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gatsby/df_datalink:master gatsby/df_datalink:vibration-test
gatsby/df_datalink:Gu'an_20240315 gatsby/df_datalink:alpha-0.2 gatsby/df_datalink:alpha-0.1 gatsby/df_datalink:original
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compare: gatsby/df_datalink:711cb50658d9b4e2ee1f8fbcfd61d72f20a9c1b4
Branches Tags
gatsby/df_datalink:vibration-test gatsby/df_datalink:master
gatsby/df_datalink:Gu'an_20240315 gatsby/df_datalink:alpha-0.2 gatsby/df_datalink:alpha-0.1 gatsby/df_datalink:original
54 Commits
Gu'an_20240315 .. 711cb50658
Author SHA1 Message Date
bit-cyber-fh 711cb50658 Merge branch 'master' of http://nas.gatsby.icu:3000/gatsby/df_datalink 2024-05-23 18:16:15 +08:00
bit-cyber-fh 746e87df86 add calibration data 2024-05-23 18:14:24 +08:00
bit-cyber-fh fa24e0f109 add 9361 rx gain config 2024-05-23 18:11:36 +08:00
bit-cyber-fh 40fdf13fd1 Revert "misc update" 
This reverts commit 268e724c72ca625fadaad6897a273ffc21e3f723.
 2024-05-23 18:06:34 +08:00
bit-cyber-fh 55cd53b746 misc update 2024-05-23 18:03:29 +08:00
bit-cyber-fh c7c81ddb83 clear calibration data 2024-05-23 17:42:42 +08:00
bit-cyber-fh 52f9390981 Merge branch 'master' of http://nas.gatsby.icu:3000/gatsby/df_datalink 2024-05-23 17:41:46 +08:00
bit-cyber-fh 475a625663 update calibration data 2024-05-23 17:41:41 +08:00
bit-cyber-fh 7b36324101 update calibration data 2024-05-23 17:38:09 +08:00
Gatsby Van c9f827661b misc update 2024-05-23 11:25:39 +08:00
bit-cyber-fh 475314f2a5 Merge branch 'master' of http://nas.gatsby.icu:3000/gatsby/df_datalink 2024-05-22 16:22:38 +08:00
bit-cyber-fh 68396cb7ac misc update 2024-05-22 16:22:18 +08:00
Gatsby Van 688534c117 *bugfix: correct head node default cxn2Net value 2024-05-20 19:14:41 +08:00
Gatsby Van 98ec0e7855 *add calibration data 2024-05-20 17:15:59 +08:00
bit-cyber-fh 45a13b9c5d *add calibration data 2024-05-20 17:05:42 +08:00
Gatsby Van f7f3d76d9a simplified makecopy 2024-04-19 17:47:05 +08:00
bit-cyber-fh f8985df185 update calibration data 2024-04-19 17:33:00 +08:00
bit-cyber-fh fdc37dab4a pluginUpdate: add node id pint 2024-04-07 17:01:15 +08:00
bit-cyber-fh cfc538bd4d bugfix: avoid confirm frame reception missing 2024-04-07 16:57:29 +08:00
Gatsby Van da1659a582 misc update 2024-04-02 00:17:39 +08:00
bit-cyber-fh f363d3afba misc update 2024-04-02 00:05:54 +08:00
bit-cyber-fh ff4b609a37 *add physical ID 2024-04-02 00:05:35 +08:00
bit-cyber-fh bbdaa49d53 *add calibration setting 2024-04-02 00:04:21 +08:00
bit-cyber-fh 06169451f8 misc update 2024-03-28 16:15:26 +08:00
bit-cyber-fh c763f1a481 misc update 2024-03-28 15:59:02 +08:00
bit-cyber-fh 8d72288675 Better struct comment 2024-03-28 15:58:15 +08:00
bit-cyber-fh 16d1ad30a7 unified indentation 2024-03-28 15:25:58 +08:00
Gatsby Van 8779c9855e omit hopping pattern configure methods 2024-03-28 11:04:29 +08:00
bit-cyber-fh 69a8d9d36d Update Comment: Better Doxygen Style 2024-03-28 11:00:12 +08:00
Gatsby Van 41964520a8 misc fix 2024-03-28 00:05:34 +08:00
bit-cyber-fh bab91e13df Common Update: Better Doxygen Style 2024-03-28 00:00:59 +08:00
Gatsby Van 9b416114a1 BSP update: trim unnecessary memory 2024-03-25 13:14:52 +08:00
Gatsby Van e7b45ae1f5 BSP update: trim unnecessary memory 2024-03-24 22:13:44 +08:00
Gatsby Van 3edfce69f2 update physical layer logging scheme 2024-03-24 22:13:22 +08:00
Gatsby Van ad3bc29cfa trim trailing space 2024-03-24 22:05:15 +08:00
Gatsby Van 02fd467708 update test data 2024-03-24 22:04:48 +08:00
Gatsby Van 1fc4fad5ea Merge remote-tracking branch 'refs/remotes/origin/master' 2024-03-22 10:32:07 +08:00
Gatsby Van 957672a191 add test data 2024-03-21 16:22:47 +08:00
Gatsby Van 807b045b75 code simplification 2024-03-20 16:24:05 +08:00
Gatsby Van 6f4774f6b8 add missing logging update 2024-03-20 15:57:21 +08:00
Gatsby Van de5759b392 *add feature: frame type specialized attenuation 2024-03-20 15:14:50 +08:00
Gatsby Van 2b18765563 misc update 2024-03-18 20:21:46 +08:00
Gatsby Van 03a6d86a3a remove unused variables 2024-03-18 11:04:41 +08:00
Gatsby Van 729bbeb60e format and cleanup 2024-03-18 11:02:20 +08:00
Gatsby Van 33545b63e1 config logic simplification 2024-03-18 11:01:56 +08:00
Gatsby Van 6c64421336 update scan frame handling schedule 2024-03-18 11:00:22 +08:00
Gatsby Van dda9d09f2a new linklayer api L2_isStarted 2024-03-18 10:58:16 +08:00
Gatsby Van 14f2be3053 update link brock threshold 2024-03-18 10:57:49 +08:00
Gatsby Van b7607a7a1b cleanup and misc update 2024-03-16 16:57:21 +08:00
Gatsby Van c07cd00f2f comment update and cleanup 2024-03-16 16:26:03 +08:00
Gatsby Van 20da80f6c2 update packet logging method 2024-03-16 16:25:44 +08:00
Gatsby Van c7e3eb2800 *shorten time frame length 2024-03-16 16:20:39 +08:00
Gatsby Van 9acdd0609a update svcFSM 2024-03-16 16:19:15 +08:00
Gatsby Van 66529637a3 add comment add enhance code coherent 2024-03-16 16:18:03 +08:00
68 changed files with 7688 additions and 4088 deletions
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caldata
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@@ -0,0 +1,396 @@
declare -A calMap
calMap[JG01]="\{\n\
\{ 0, 2525, -7533, -6846\}, \{ 0, 12726, -7818, -6860\},\n\
\{ 0, 2490, -7836, -6907\}, \{ 0, 4479, -7716, -6837\},\n\
\{ 0, 6409, -7770, -6776\}, \{ 0, 14616, -7977, -6816\},\n\
\{ 0, -22557, -8002, -6911\}, \{ 0, -22587, -8121, -6918\},\n\
\{ 0, -1124, -8123, -7030\}, \{ 0, -152, -8219, -7042\},\n\
\{ 0, 1823, -8209, -7130\}, \{ 0, 1790, -8290, -7214\},\n\
\{ 0, 1669, -8362, -7283\}, \{ 0, 1634, -8459, -7276\},\n\
\{ 0, 1615, -8315, -7415\}, \{ 0, 1698, -8168, -7366\},\n\
\{ 0, 1535, -8285, -7520\}, \{ 0, 1619, -8285, -7532\},\n\
\{ 0, 1609, -8201, -7693\}, \{ 0, 1671, -8145, -7769\},\n\
\{ 0, 1676, -8135, -7805\}, \{ 0, 951, -10279, -8871\},\n\
\{ 0, 976, -10235, -8978\}, \{ 0, 1118, -10127, -9019\},\n\
\{ 0, 1175, -10003, -9007\}, \{ 0, 1386, -9847, -9039\},\n\
\{ 0, 1535, -9572, -9058\}, \{ 0, 1729, -9493, -9006\},\n\
\{ 0, -1158, -9312, -9003\}, \{ 0, 23771, -9147, -8928\},\n\
\{ 0, 20733, -9074, -8924\}, \{ 0, 2455, -8841, -8886\},\n\
\{ 0, 2622, -8718, -8735\}, \{ 0, 2791, -8615, -8705\},\n\
\{ 0, 2861, -8168, -8331\}, \{ 0, 3076, -8091, -8218\},\n\
\{ 0, 3257, -8046, -8100\}, \{ 0, 3331, -7923, -8073\},\n\
\{ 0, 3396, -7826, -7994\}, \{ 0, 3478, -7842, -8016\},\n\
\{ 0, 3518, -7846, -7765\}, \{ 0, 3585, -7753, -7715\},\n\
\{ 0, 150, -8145, -8591\}, \{ 0, 192, -8090, -8570\},\n\
\{ 0, 207, -8150, -8597\}, \{ 0, 178, -8142, -8656\},\n\
\{ 0, 89, -8557, -8688\}, \{ 0, 107, -8614, -8733\},\n\
\{ 0, 194, -8605, -8782\}, \{ 0, 153, -8655, -8881\},\n\
\{ 0, 70, -8615, -8952\}, \{ 0, 35, -8596, -9148\},\n\
\{ 0, 49, -8636, -9286\}, \{ 0, 6, -8587, -9435\},\n\
\{ 0, -51, -8540, -9549\}, \{ 0, -65, -8588, -9700\},\n\
\{ 0, -55, -8503, -9820\}, \{ 0, -20, -8414, -9907\},\n\
\{ 0, -112, -8481, -10031\}, \{ 0, -69, -8535, -10185\},\n\
\{ 0, 2, -8550, -10052\}, \{ 0, -1, -8493, -10291\},\n\
\{ 0, -73, -8441, -10380\}, \{ 0, 1958, -6930, -8295\},\n\
\{ 0, -1148, -6939, -8396\}, \{ 0, 1915, -6784, -8370\},\n\
\{ 0, 1871, -6970, -8514\}, \{ 0, 1821, -6974, -8387\},\n\
\{ 0, 1781, -6906, -8431\}, \{ 0, 1736, -6897, -8462\},\n\
\{ 0, 1664, -7024, -8377\}, \{ 0, 1629, -7127, -8436\},\n\
\{ 0, 1603, -7148, -8528\}, \{ 0, 1577, -7198, -8500\},\n\
\{ 0, 1528, -7311, -8512\}, \{ 0, 1577, -7390, -8570\},\n\
\{ 0, 1616, -7436, -8572\}, \{ 0, 1589, -7597, -8590\},\n\
\{ 0, 1722, -7550, -8568\}, \{ 0, 1741, -7691, -8449\},\n\
\{ 0, 1767, -7775, -8328\}, \n\
};"
calMap[JG02]="\{\n\
\{ 0, 1573, -6646, -6900\}, \{ 0, 1251, -7021, -7119\},\n\
\{ 0, 1157, -7139, -7184\}, \{ 0, 970, -7380, -7280\},\n\
\{ 0, 803, -7646, -7340\}, \{ 0, 243, -7702, -7475\},\n\
\{ 0, 116, -7899, -7666\}, \{ 0, 345, -7915, -7779\},\n\
\{ 0, 257, -8072, -7835\}, \{ 0, 63, -8061, -7871\},\n\
\{ 0, -40, -8151, -7949\}, \{ 0, -144, -8363, -8066\},\n\
\{ 0, -184, -8320, -8111\}, \{ 0, -360, -8458, -8205\},\n\
\{ 0, -426, -8583, -8238\}, \{ 0, -444, -8534, -8338\},\n\
\{ 0, -451, -8508, -8371\}, \{ 0, -610, -8581, -8378\},\n\
\{ 0, -605, -8582, -8381\}, \{ 0, -1401, -8503, -8391\},\n\
\{ 0, -2160, -8656, -8346\}, \{ 0, 243, -9749, -9637\},\n\
\{ 0, -503, -9663, -9572\}, \{ 0, -444, -9526, -9554\},\n\
\{ 0, -495, -9581, -9559\}, \{ 0, -463, -9515, -9427\},\n\
\{ 0, -1209, -9399, -9343\}, \{ 0, -356, -9263, -9275\},\n\
\{ 0, -200, -9145, -9160\}, \{ 0, -110, -9062, -9013\},\n\
\{ 0, -165, -9138, -8950\}, \{ 0, -104, -9094, -8849\},\n\
\{ 0, -744, -9062, -8679\}, \{ 0, -743, -9084, -8557\},\n\
\{ 0, -613, -8622, -8069\}, \{ 0, -492, -8651, -7949\},\n\
\{ 0, 76, -8666, -7826\}, \{ 0, 362, -8890, -7855\},\n\
\{ 0, -204, -8686, -7668\}, \{ 0, -305, -8955, -7710\},\n\
\{ 0, -199, -8941, -7435\}, \{ 0, -141, -8992, -7377\},\n\
\{ 0, -1015, -8907, -7741\}, \{ 0, -886, -8961, -7784\},\n\
\{ 0, -594, -9151, -7921\}, \{ 0, -875, -9062, -7860\},\n\
\{ 0, -1280, -9528, -7885\}, \{ 0, -379, -9555, -8104\},\n\
\{ 0, -291, -9633, -8172\}, \{ 0, -1145, -9625, -8226\},\n\
\{ 0, -1437, -9653, -8314\}, \{ 0, -1372, -9610, -8489\},\n\
\{ 0, -208, -9649, -8693\}, \{ 0, -202, -9527, -8755\},\n\
\{ 0, 120, -9542, -8873\}, \{ 0, 126, -9448, -9003\},\n\
\{ 0, 167, -9519, -9142\}, \{ 0, 459, -9523, -9194\},\n\
\{ 0, 41, -9266, -9117\}, \{ 0, 189, -9303, -9236\},\n\
\{ 0, 7, -9305, -9289\}, \{ 0, -32, -9342, -9391\},\n\
\{ 0, -106, -9252, -9433\}, \{ 0, -195, -9450, -7698\},\n\
\{ 0, -84, -9434, -7715\}, \{ 0, 126, -9365, -7699\},\n\
\{ 0, 244, -9474, -7798\}, \{ 0, 112, -9616, -7895\},\n\
\{ 0, 514, -9631, -7921\}, \{ 0, 468, -9609, -7939\},\n\
\{ 0, -209, -9770, -7983\}, \{ 0, -329, -9925, -8028\},\n\
\{ 0, -845, -9918, -8117\}, \{ 0, 44, -9921, -8106\},\n\
\{ 0, 251, -10042, -8254\}, \{ 0, 277, -10008, -8327\},\n\
\{ 0, 737, -10139, -8391\}, \{ 0, 1260, -10272, -8496\},\n\
\{ 0, -17449, -10172, -8508\}, \{ 0, -6484, -10284, -8635\},\n\
\{ 0, 541, -10256, -8560\}, \n\
};"
calMap[JG03]="\{\n\
\{ 0, -5670, -14728, -16999\}, \{ 0, -5942, -14703, -17077\},\n\
\{ 0, -5889, -14421, -16670\}, \{ 0, -6039, -14464, -16644\},\n\
\{ 0, -5991, -14403, -16390\}, \{ 0, -6103, -14418, -16510\},\n\
\{ 0, -5953, -14364, -16180\}, \{ 0, -6154, -14364, -16125\},\n\
\{ 0, -5945, -14263, -15929\}, \{ 0, -6075, -14327, -15930\},\n\
\{ 0, -5928, -14392, -15878\}, \{ 0, -5986, -14443, -15932\},\n\
\{ 0, -5783, -14256, -15873\}, \{ 0, -5945, -14360, -15887\},\n\
\{ 0, -5749, -14536, -15874\}, \{ 0, -5733, -14684, -15887\},\n\
\{ 0, -5630, -14594, -15987\}, \{ 0, -5752, -14743, -16002\},\n\
\{ 0, -5490, -14694, -15993\}, \{ 0, -5481, -14866, -16056\},\n\
\{ 0, -5293, -14807, -16060\}, \{ 0, -7935, -20143, -18383\},\n\
\{ 0, -7733, -20142, -18482\}, \{ 0, -7628, -20060, -18538\},\n\
\{ 0, -7437, -20112, -18495\}, \{ 0, -7314, -20012, -18544\},\n\
\{ 0, -7072, -19980, -18573\}, \{ 0, -6986, -20006, -18632\},\n\
\{ 0, -6718, -20048, -18569\}, \{ 0, -6601, -19987, -18517\},\n\
\{ 0, -6485, -20035, -18537\}, \{ 0, -6292, -20047, -18537\},\n\
\{ 0, -6105, -20153, -18482\}, \{ 0, -6081, -20314, -18501\},\n\
\{ 0, -5865, -19916, -18164\}, \{ 0, -5786, -20218, -18174\},\n\
\{ 0, -5728, -20282, -18110\}, \{ 0, -5690, -20451, -18135\},\n\
\{ 0, -5643, -20768, -18154\}, \{ 0, -5603, -20874, -18273\},\n\
\{ 0, -5621, -21190, -18095\}, \{ 0, -5522, -21547, -18146\},\n\
\{ 0, -5549, -20721, -16825\}, \{ 0, -5547, -21087, -17001\},\n\
\{ 0, -5491, -21394, -17040\}, \{ 0, -5484, -21696, -17064\},\n\
\{ 0, -5542, -22265, -17091\}, \{ 0, -5483, -22543, -17198\},\n\
\{ 0, -5460, -22748, -17254\}, \{ 0, -5417, -22961, -17307\},\n\
\{ 0, -5455, -23299, -17323\}, \{ 0, -5445, -23552, -17382\},\n\
\{ 0, -5426, -23645, -17428\}, \{ 0, -5480, -23902, -17349\},\n\
\{ 0, -5558, -24011, -17360\}, \{ 0, -5569, -24032, -17326\},\n\
\{ 0, -5614, -24067, -17305\}, \{ 0, -5656, -24000, -17251\},\n\
\{ 0, -5739, -23971, -17228\}, \{ 0, -5777, -23886, -17215\},\n\
\{ 0, -5832, -23823, -17051\}, \{ 0, -5891, -23719, -16957\},\n\
\{ 0, -6007, -23598, -16925\}, \{ 0, -5893, -20829, -15256\},\n\
\{ 0, -5886, -20669, -15091\}, \{ 0, -5883, -20496, -14990\},\n\
\{ 0, -5969, -20469, -14898\}, \{ 0, -5971, -20245, -14876\},\n\
\{ 0, -5996, -20108, -14764\}, \{ 0, -5979, -19934, -14694\},\n\
\{ 0, -5997, -19721, -14571\}, \{ 0, -6046, -19573, -14456\},\n\
\{ 0, -6001, -19418, -14381\}, \{ 0, -5942, -19239, -14265\},\n\
\{ 0, -5978, -19040, -14240\}, \{ 0, -5928, -18873, -14317\},\n\
\{ 0, -5917, -18715, -14238\}, \{ 0, -5865, -18576, -14201\},\n\
\{ 0, -5750, -18386, -14200\}, \{ 0, -5772, -18299, -14235\},\n\
\{ 0, -5754, -18187, -14300\}, \n\
};"
calMap[JG05]="\{\n\
\{ 0, 178, -7222, 8474\}, \{ 0, 218, -7139, 8383\},\n\
\{ 0, 215, -7438, 8352\}, \{ 0, 198, -7247, 8498\},\n\
\{ 0, 138, -7640, 8644\}, \{ 0, 158, -7805, 8610\},\n\
\{ 0, 135, -7804, 8531\}, \{ 0, 143, -7881, 8575\},\n\
\{ 0, 165, -8096, 8584\}, \{ 0, 118, -7962, 8558\},\n\
\{ 0, 148, -7947, 8550\}, \{ 0, 118, -8193, 8494\},\n\
\{ 0, 149, -8042, 8441\}, \{ 0, 59, -8207, 8454\},\n\
\{ 0, 101, -8029, 8575\}, \{ 0, 156, -8029, 8422\},\n\
\{ 0, 205, -8074, 8451\}, \{ 0, 167, -7912, 8405\},\n\
\{ 0, 263, -7980, 8405\}, \{ 0, 258, -8007, 8404\},\n\
\{ 0, 288, -7790, 8342\}, \{ 0, -802, -10286, 6559\},\n\
\{ 0, -717, -10120, 6574\}, \{ 0, -590, -9884, 6675\},\n\
\{ 0, -446, -9651, 6686\}, \{ 0, -371, -9600, 6700\},\n\
\{ 0, -259, -9243, 6756\}, \{ 0, -77, -9216, 6768\},\n\
\{ 0, 108, -8979, 6844\}, \{ 0, 220, -8769, 6970\},\n\
\{ 0, 348, -8820, 6991\}, \{ 0, 569, -8618, 7028\},\n\
\{ 0, 688, -8430, 7162\}, \{ 0, 798, -8520, 7293\},\n\
\{ 0, 1050, -8141, 7758\}, \{ 0, 1284, -7775, 7850\},\n\
\{ 0, 1447, -7625, 7967\}, \{ 0, 1527, -7708, 8032\},\n\
\{ 0, 1661, -7547, 8153\}, \{ 0, 1784, -7532, 8169\},\n\
\{ 0, 1863, -7560, 8430\}, \{ 0, 1977, -7617, 8609\},\n\
\{ 0, 1318, -6902, 8849\}, \{ 0, 1390, -7060, 8848\},\n\
\{ 0, 1470, -6967, 8872\}, \{ 0, 1532, -6958, 8915\},\n\
\{ 0, 1607, -7162, 8946\}, \{ 0, 1718, -7119, 9030\},\n\
\{ 0, 1781, -6970, 9113\}, \{ 0, 1807, -6943, 9071\},\n\
\{ 0, 1831, -7114, 9061\}, \{ 0, 1899, -7105, 9088\},\n\
\{ 0, 1935, -7026, 9070\}, \{ 0, 2040, -6685, 9125\},\n\
\{ 0, -8187, -6757, 9115\}, \{ 0, -10749, -6464, 9194\},\n\
\{ 0, -21024, -6513, 9071\}, \{ 0, 6072, -6529, 9040\},\n\
\{ 0, -22290, -6590, 9075\}, \{ 0, -12054, -6510, 9114\},\n\
\{ 0, -18487, -6491, 9179\}, \{ 0, -12050, -6878, 9144\},\n\
\{ 0, -4425, -6526, 9189\}, \{ 0, 2575, -4991, 10202\},\n\
\{ 0, 2566, -4792, 10308\}, \{ 0, 2596, -4920, 10513\},\n\
\{ 0, 2585, -5106, 10573\}, \{ 0, 2538, -5290, 10578\},\n\
\{ 0, 2560, -5424, 10627\}, \{ 0, 2613, -5352, 10915\},\n\
\{ 0, 2531, -5578, 10919\}, \{ 0, 2545, -5652, 11012\},\n\
\{ 0, 2646, -5819, 11079\}, \{ 0, 2661, -6046, 11136\},\n\
\{ 0, 2692, -6314, 11187\}, \{ 0, 2759, -6284, 11209\},\n\
\{ 0, 2739, -6557, 11185\}, \{ 0, 2815, -6469, 11256\},\n\
\{ 0, 2849, -6807, 11103\}, \{ 0, 2850, -6769, 11097\},\n\
\{ 0, 2923, -6999, 11232\}, \n\
};"
calMap[JG06]="\{\n\
\{ 0, -3193, -1212, 1843\}, \{ 0, -3191, -1331, 1701\},\n\
\{ 0, -3257, -1489, 1654\}, \{ 0, -3460, -1572, 1522\},\n\
\{ 0, -3552, -1697, 1526\}, \{ 0, -3709, -1915, 1292\},\n\
\{ 0, -3824, -2028, 1254\}, \{ 0, -3932, -2082, 1069\},\n\
\{ 0, -3929, -2154, 1109\}, \{ 0, -4073, -2215, 949\},\n\
\{ 0, -4078, -2261, 970\}, \{ 0, -3980, -2076, 1035\},\n\
\{ 0, -3976, -2215, 807\}, \{ 0, -4119, -2390, 631\},\n\
\{ 0, -3947, -1939, 778\}, \{ 0, -3860, -1811, 773\},\n\
\{ 0, -3941, -2073, 812\}, \{ 0, -4011, -2152, 603\},\n\
\{ 0, -4004, -2293, 666\}, \{ 0, -3763, -1990, 981\},\n\
\{ 0, -3795, -2080, 955\}, \{ 0, -5422, -4014, -3352\},\n\
\{ 0, -5334, -3839, -3198\}, \{ 0, -5003, -3704, -3127\},\n\
\{ 0, -4923, -3459, -2822\}, \{ 0, -4880, -3634, -2927\},\n\
\{ 0, -4626, -3279, -2818\}, \{ 0, -4459, -3158, -2737\},\n\
\{ 0, -4451, -3021, -2714\}, \{ 0, -4232, -2966, -2584\},\n\
\{ 0, -4121, -2834, -2596\}, \{ 0, -3976, -2641, -2334\},\n\
\{ 0, -3794, -2439, -2238\}, \{ 0, -3675, -2262, -2175\},\n\
\{ 0, -3362, -1706, -1623\}, \{ 0, -3528, -2164, -1984\},\n\
\{ 0, -3152, -1630, -1687\}, \{ 0, -3263, -1802, -1695\},\n\
\{ 0, -2947, -1336, -1531\}, \{ 0, -3096, -1405, -1527\},\n\
\{ 0, -3166, -1540, -1558\}, \{ 0, -3138, -1467, -1543\},\n\
\{ 0, -903, 658, -935\}, \{ 0, -828, 762, -1026\},\n\
\{ 0, -550, 1350, -713\}, \{ 0, -829, 1110, -1164\},\n\
\{ 0, -752, 1063, -1160\}, \{ 0, -705, 1128, -1506\},\n\
\{ 0, -659, 1257, -1704\}, \{ 0, -719, 1290, -1965\},\n\
\{ 0, -544, 1695, -1719\}, \{ 0, -687, 1528, -2183\},\n\
\{ 0, -478, -21223, -2095\}, \{ 0, -653, 1741, -2397\},\n\
\{ 0, -651, 1813, -2513\}, \{ 0, -511, -21073, -2543\},\n\
\{ 0, -499, -23598, -2642\}, \{ 0, -851, 1982, -2660\},\n\
\{ 0, -872, 1961, -2673\}, \{ 0, -810, 2043, -2845\},\n\
\{ 0, -1060, 1924, -2732\}, \{ 0, -1115, -3044, -2581\},\n\
\{ 0, -1129, 2014, -2828\}, \{ 0, 731, 4892, 234\},\n\
\{ 0, 570, 4718, 22\}, \{ 0, 100, 4534, -37\},\n\
\{ 0, 254, 4653, -65\}, \{ 0, 182, 4873, 90\},\n\
\{ 0, 164, 4680, -74\}, \{ 0, 148, 4590, -196\},\n\
\{ 0, 208, 4540, -186\}, \{ 0, 250, 4615, -126\},\n\
\{ 0, 308, 4559, -37\}, \{ 0, 409, 4640, -129\},\n\
\{ 0, 474, 4646, -81\}, \{ 0, 388, 4486, -12\},\n\
\{ 0, 513, 4546, -96\}, \{ 0, 673, 4704, 72\},\n\
\{ 0, 509, 4312, -42\}, \{ 0, 584, 4564, -44\},\n\
\{ 0, 672, 4597, -120\}, \n\
};"
calMap[LJ01]="\{\n\
\{ 0, 3306, -5061, -13611\}, \{ 0, 3049, -4933, -13418\},\n\
\{ 0, 2843, -4962, -13208\}, \{ 0, 2486, -5123, -13136\},\n\
\{ 0, 2205, -5473, -13265\}, \{ 0, 1928, -5988, -13506\},\n\
\{ 0, 1513, -6709, -13935\}, \{ 0, 1546, -7568, -14632\},\n\
\{ 0, 1468, -8336, -15205\}, \{ 0, 1509, -8794, -15543\},\n\
\{ 0, 1528, -8973, -15639\}, \{ 0, 1768, -8853, -15558\},\n\
\{ 0, 1854, -8520, -15319\}, \{ 0, 2002, -7988, -14884\},\n\
\{ 0, 2042, -7457, -14526\}, \{ 0, 2193, -7051, -14249\},\n\
\{ 0, 2132, -6802, -14131\}, \{ 0, 2334, -6767, -14073\},\n\
\{ 0, 2332, -6824, -14227\}, \{ 0, 2407, -7012, -14338\},\n\
\{ 0, 2424, -7273, -14748\}, \{ 0, 1718, -10180, -16828\},\n\
\{ 0, 1928, -10432, -17197\}, \{ 0, 2107, -10502, -17293\},\n\
\{ 0, 2327, -10335, -17211\}, \{ 0, 2557, -9919, -16856\},\n\
\{ 0, 2665, -9220, -16289\}, \{ 0, 2983, -8285, -15322\},\n\
\{ 0, 3093, -7289, -14604\}, \{ 0, 3304, -6536, -13885\},\n\
\{ 0, 3407, -6161, -13705\}, \{ 0, 3661, -6183, -13598\},\n\
\{ 0, 3822, -6287, -13834\}, \{ 0, 3895, -6650, -14020\},\n\
\{ 0, 4111, -6621, -14034\}, \{ 0, 4166, -7000, -14249\},\n\
\{ 0, 4359, -7249, -14543\}, \{ 0, 4517, -7372, -14492\},\n\
\{ 0, 4690, -7235, -14442\}, \{ 0, 4726, -7000, -14150\},\n\
\{ 0, 4733, -6447, -13781\}, \{ 0, 4759, -5776, -13242\},\n\
\{ 0, 4952, -5584, -11867\}, \{ 0, 4956, -5281, -11959\},\n\
\{ 0, 4989, -5306, -12400\}, \{ 0, 5018, -5623, -12991\},\n\
\{ 0, 5109, -6646, -13788\}, \{ 0, 5286, -7245, -14517\},\n\
\{ 0, 5265, -7781, -15215\}, \{ 0, 5337, -8198, -15738\},\n\
\{ 0, 5185, -8507, -16106\}, \{ 0, 5238, -8605, -16296\},\n\
\{ 0, 4984, -8648, -16398\}, \{ 0, 4892, -8510, -16338\},\n\
\{ 0, 4755, -8181, -16074\}, \{ 0, 4728, -7720, -15674\},\n\
\{ 0, 4671, -7183, -15300\}, \{ 0, 4673, -6820, -15154\},\n\
\{ 0, 4608, -6671, -15163\}, \{ 0, 4730, -6867, -15411\},\n\
\{ 0, 4841, -7249, -15716\}, \{ 0, 4945, -7583, -15995\},\n\
\{ 0, 4855, -8092, -16198\}, \{ 0, 5183, -8078, -14677\},\n\
\{ 0, 5069, -8370, -14651\}, \{ 0, 4786, -8613, -14604\},\n\
\{ 0, 4567, -8865, -14570\}, \{ 0, 4417, -9059, -14590\},\n\
\{ 0, 4347, -9189, -14516\}, \{ 0, 4180, -9222, -14315\},\n\
\{ 0, 4076, -9148, -14113\}, \{ 0, 4036, -9148, -13980\},\n\
\{ 0, 4057, -9343, -14037\}, \{ 0, 4073, -9499, -14209\},\n\
\{ 0, 4109, -9701, -14466\}, \{ 0, 4200, -9811, -14607\},\n\
\{ 0, 4245, -9975, -14787\}, \{ 0, 4320, -9969, -14682\},\n\
\{ 0, 4147, -9974, -14613\}, \{ 0, 4026, -9853, -14365\},\n\
\{ 0, 3899, -9675, -14231\}, \n\
};"
calMap[LJ03]="\{\n\
\{ 0, 1349, -5364, -8244\}, \{ 0, 1305, -5313, -8123\},\n\
\{ 0, 1346, -5207, -8048\}, \{ 0, 1267, -5433, -8294\},\n\
\{ 0, 1432, -5184, -8028\}, \{ 0, 1300, -5323, -7882\},\n\
\{ 0, 1344, -5252, -7874\}, \{ 0, 1471, -4946, -7465\},\n\
\{ 0, 1463, -4744, -7438\}, \{ 0, 1343, -4772, -7414\},\n\
\{ 0, 1327, -4773, -7466\}, \{ 0, 1529, -4640, -7207\},\n\
\{ 0, 1361, -4649, -7166\}, \{ 0, 1282, -4773, -7277\},\n\
\{ 0, 1395, -4358, -6842\}, \{ 0, 1460, -4368, -6891\},\n\
\{ 0, 1453, -4271, -6791\}, \{ 0, 1508, -3985, -6433\},\n\
\{ 0, 1631, -3986, -6168\}, \{ 0, 1703, -3670, -6021\},\n\
\{ 0, 1721, -3765, -5929\}, \{ 0, -945, -8000, -7277\},\n\
\{ 0, -760, -7667, -6891\}, \{ 0, -674, -7604, -6809\},\n\
\{ 0, -651, -7716, -6859\}, \{ 0, -564, -7489, -6550\},\n\
\{ 0, -619, -7426, -6299\}, \{ 0, -548, -7423, -6400\},\n\
\{ 0, -594, -7559, -6385\}, \{ 0, -454, -7217, -6158\},\n\
\{ 0, -652, -7475, -6376\}, \{ 0, -515, -7409, -6425\},\n\
\{ 0, -594, -7547, -6704\}, \{ 0, -624, -7454, -6696\},\n\
\{ 0, -632, -7298, -6673\}, \{ 0, -618, -7398, -6976\},\n\
\{ 0, -448, -7026, -6590\}, \{ 0, -403, -7384, -6981\},\n\
\{ 0, -309, -7243, -6984\}, \{ 0, -244, -7224, -7184\},\n\
\{ 0, -149, -7332, -7120\}, \{ 0, 3, -6982, -7051\},\n\
\{ 0, 637, -5403, -6598\}, \{ 0, 741, -5338, -6589\},\n\
\{ 0, 1061, -5151, -6684\}, \{ 0, 1132, -5092, -6982\},\n\
\{ 0, 1395, -5371, -6885\}, \{ 0, 1576, -5046, -7027\},\n\
\{ 0, 1685, -5036, -7188\}, \{ 0, -4861, -4954, -7182\},\n\
\{ 0, 7528, -4764, -7106\}, \{ 0, 7402, -4883, -7450\},\n\
\{ 0, 2421, -4626, -7362\}, \{ 0, 2537, -4763, -7522\},\n\
\{ 0, 2625, -4445, -7453\}, \{ 0, 2812, -4555, -7423\},\n\
\{ 0, 2817, -4220, -7536\}, \{ 0, 2871, -4363, -7597\},\n\
\{ 0, 2991, -4147, -7377\}, \{ 0, 3022, -4280, -7546\},\n\
\{ 0, 3081, -4477, -7607\}, \{ 0, 3207, -4288, -7445\},\n\
\{ 0, 3222, -4523, -7341\}, \{ 0, 2538, -5235, -7880\},\n\
\{ 0, 2556, -5329, -7867\}, \{ 0, 2637, -5562, -7906\},\n\
\{ 0, 2615, -5434, -7647\}, \{ 0, 2526, -5602, -7602\},\n\
\{ 0, 2506, -5612, -7705\}, \{ 0, 2365, -5521, -7538\},\n\
\{ 0, 7423, -5500, -7675\}, \{ 0, 2264, -5602, -7646\},\n\
\{ 0, 2263, -5490, -7639\}, \{ 0, -15024, -5463, -7460\},\n\
\{ 0, -4834, -5419, -7484\}, \{ 0, -3118, -5570, -7579\},\n\
\{ 0, -6596, -5413, -7525\}, \{ 0, 1877, -5315, -7328\},\n\
\{ 0, 1874, -5682, -7534\}, \{ 0, 1759, -5330, -7287\},\n\
\{ 0, 1735, -5507, -7305\}, \n\
};"
calMap[LJ04]="\{\n\
\{ 0, -3188, -5668, -7029\}, \{ 0, -3144, -5592, -6708\},\n\
\{ 0, -3332, -5859, -7135\}, \{ 0, -3402, -5694, -6908\},\n\
\{ 0, -3376, -5858, -7070\}, \{ 0, -3383, -5474, -6886\},\n\
\{ 0, -3518, -5487, -6925\}, \{ 0, -3383, -5342, -6659\},\n\
\{ 0, -3487, -5535, -6848\}, \{ 0, -3472, -5206, -6576\},\n\
\{ 0, -3432, -5335, -6581\}, \{ 0, -3502, -5071, -6421\},\n\
\{ 0, -3549, -5020, -6390\}, \{ 0, -3618, -4961, -6310\},\n\
\{ 0, -3774, -4938, -6377\}, \{ 0, -3868, -5039, -6488\},\n\
\{ 0, -3865, -4778, -6328\}, \{ 0, -3812, -4602, -6360\},\n\
\{ 0, -3990, -4498, -6189\}, \{ 0, -3820, -4493, -6070\},\n\
\{ 0, -3793, -4262, -5963\}, \{ 0, -4355, -5745, -6648\},\n\
\{ 0, -4372, -5742, -6633\}, \{ 0, -4458, -5618, -6650\},\n\
\{ 0, -4484, -5695, -6732\}, \{ 0, -4367, -5513, -6642\},\n\
\{ 0, -4433, -5498, -6628\}, \{ 0, -4364, -5480, -6563\},\n\
\{ 0, -4344, -5382, -6497\}, \{ 0, -4255, -5470, -6465\},\n\
\{ 0, -4154, -5145, -6183\}, \{ 0, -4211, -5200, -6136\},\n\
\{ 0, -4086, -5205, -6195\}, \{ 0, -4113, -5261, -6338\},\n\
\{ 0, -4069, -4832, -5831\}, \{ 0, -3835, -4826, -5801\},\n\
\{ 0, -4030, -5011, -6065\}, \{ 0, -3711, -4838, -5795\},\n\
\{ 0, -3644, -4881, -5899\}, \{ 0, -3507, -4813, -5800\},\n\
\{ 0, -3453, -4947, -5520\}, \{ 0, -3374, -4954, -5642\},\n\
\{ 0, -4837, -5736, -7500\}, \{ 0, -4470, -5620, -7385\},\n\
\{ 0, -4401, -5408, -7370\}, \{ 0, -4271, -5626, -7496\},\n\
\{ 0, -4286, -5828, -7556\}, \{ 0, -4184, -5982, -7565\},\n\
\{ 0, -3923, -5491, -7415\}, \{ 0, -3926, -5554, -7685\},\n\
\{ 0, -3657, -5235, -7542\}, \{ 0, -3530, -5104, -7717\},\n\
\{ 0, -3370, -4853, -7737\}, \{ 0, -3224, -4703, -7679\},\n\
\{ 0, -3100, -4620, -7733\}, \{ 0, -3010, -4547, -7648\},\n\
\{ 0, -2838, -4318, -7619\}, \{ 0, -2907, -4260, -7604\},\n\
\{ 0, -2883, -4306, -7768\}, \{ 0, -2878, -3949, -7601\},\n\
\{ 0, -2927, -4097, -7840\}, \{ 0, -2816, -3790, -7544\},\n\
\{ 0, -2853, -3654, -7534\}, \{ 0, -2052, -2142, -3986\},\n\
\{ 0, -2109, -2259, -4027\}, \{ 0, -2132, -2002, -3745\},\n\
\{ 0, -2275, -2181, -3810\}, \{ 0, -2353, -1951, -3419\},\n\
\{ 0, -2428, -2046, -3391\}, \{ 0, -2537, -1974, -3301\},\n\
\{ 0, -2568, -1805, -3074\}, \{ 0, -2764, -1930, -3068\},\n\
\{ 0, -2793, -1922, -2816\}, \{ 0, -2931, -2060, -2982\},\n\
\{ 0, -3118, -2158, -2858\}, \{ 0, -3370, -2240, -3088\},\n\
\{ 0, -3411, -2369, -3055\}, \{ 0, -3867, -2590, -3016\},\n\
\{ 0, -3965, -2696, -3099\}, \{ 0, -4112, -2907, -3438\},\n\
\{ 0, -4226, -2747, -3341\}, \n\
};"
calMap[LJ06]="\{\n\
\{ 0, -2262, -6113, 0\}, \{ 0, -2289, -5998, 0\},\n\
\{ 0, -2389, -5908, 0\}, \{ 0, -2400, -5772, 0\},\n\
\{ 0, -2453, -5681, 0\}, \{ 0, -2499, -5388, 0\},\n\
\{ 0, -2697, -5347, 0\}, \{ 0, -2711, -5354, 0\},\n\
\{ 0, -2706, -5191, 0\}, \{ 0, -2735, -5041, 0\},\n\
\{ 0, -2774, -5210, 0\}, \{ 0, -2786, -5058, 0\},\n\
\{ 0, -2678, -4895, 0\}, \{ 0, -2919, -5057, 0\},\n\
\{ 0, -2721, -4910, 0\}, \{ 0, -2907, -5193, 0\},\n\
\{ 0, -2788, -5127, 0\}, \{ 0, -2740, -5244, 0\},\n\
\{ 0, -2952, -5528, 0\}, \{ 0, -2780, -5636, 0\},\n\
\{ 0, -2699, -5809, 0\}, \{ 0, -5951, -7685, 0\},\n\
\{ 0, -5919, -8016, 0\}, \{ 0, -5825, -7896, 0\},\n\
\{ 0, -5678, -8137, 0\}, \{ 0, -5540, -7997, 0\},\n\
\{ 0, -5402, -8086, 0\}, \{ 0, -5177, -8028, 0\},\n\
\{ 0, -5086, -8084, 0\}, \{ 0, -4956, -8329, 0\},\n\
\{ 0, -4540, -7947, 0\}, \{ 0, -4522, -8167, 0\},\n\
\{ 0, -4236, -8042, 0\}, \{ 0, -4221, -8116, 0\},\n\
\{ 0, -4065, -7614, 0\}, \{ 0, -3927, -7733, 0\},\n\
\{ 0, -4279, -8023, 0\}, \{ 0, -3821, -7745, 0\},\n\
\{ 0, -3811, -7711, 0\}, \{ 0, -3622, -7571, 0\},\n\
\{ 0, -3670, -7673, 0\}, \{ 0, -3468, -7280, 0\},\n\
\{ 0, -7748, -9555, 0\}, \{ 0, -7489, -9416, 0\},\n\
\{ 0, -7519, -9207, 0\}, \{ 0, -7465, -9536, 0\},\n\
\{ 0, -7860, -9780, 0\}, \{ 0, -7653, -9649, 0\},\n\
\{ 0, -7797, -9516, 0\}, \{ 0, -7830, -9363, 0\},\n\
\{ 0, -7742, -9205, 0\}, \{ 0, -7527, -8705, 0\},\n\
\{ 0, -7519, -8575, 0\}, \{ 0, -7595, -8404, 0\},\n\
\{ 0, -7486, -8284, 0\}, \{ 0, -7580, -7872, 0\},\n\
\{ 0, -7538, -7504, 0\}, \{ 0, -7962, -7643, 0\},\n\
\{ 0, -8127, -7655, 0\}, \{ 0, -8093, -6990, 0\},\n\
\{ 0, -8134, -6976, 0\}, \{ 0, -8124, -6803, 0\},\n\
\{ 0, -8197, -6536, 0\}, \{ 0, -3942, -1676, 0\},\n\
\{ 0, -4183, -1856, 0\}, \{ 0, -4299, -1592, 0\},\n\
\{ 0, -4544, -1886, 0\}, \{ 0, -4665, -1528, 0\},\n\
\{ 0, -4565, -1494, 0\}, \{ 0, -4739, -1559, 0\},\n\
\{ 0, -4674, -1424, 0\}, \{ 0, -5024, -1639, 0\},\n\
\{ 0, -4809, -1556, 0\}, \{ 0, -5018, -1704, 0\},\n\
\{ 0, -4793, -1466, 0\}, \{ 0, -5107, -1687, 0\},\n\
\{ 0, -4760, -1739, 0\}, \{ 0, -5083, -1904, 0\},\n\
\{ 0, -5023, -2034, 0\}, \{ 0, -4848, -2186, 0\},\n\
\{ 0, -4732, -1999, 0\}, \n\
};"
calibration_data/dataGen.m
+19
View File
@@ -0,0 +1,19 @@
clear;clc;
name = 'LJ06';
load(['phase_' name '.mat']);
data = sortrows(dataDec1, 1);
fprintf('calMap[%s]="\\{\\n\\\n', name);
for i = 1:size(data,1)
if (mod(i, 2) == 1)
fprintf("\t");
end
fprintf("\\{%6d, %6d, %6d, %6d\\},", ...
data(i,2), data(i,3), data(i,4), data(i,5));
if (mod(i, 2) == 1)
fprintf(" ");
else
fprintf("\\n\\\n");
end
end
fprintf('\\n\\\n};"\n');
calibration_data/phase_JG01.mat
BIN
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calibration_data/phase_JG02.mat
BIN
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calibration_data/phase_JG03.mat
BIN
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calibration_data/phase_JG05.mat
BIN
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calibration_data/phase_JG06.mat
BIN
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Binary file not shown.
calibration_data/phase_LJ01.mat
BIN
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Binary file not shown.
calibration_data/phase_LJ02.mat
BIN
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calibration_data/phase_LJ03.mat
BIN
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calibration_data/phase_LJ04.mat
BIN
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comtool-plugin-duifei.py
+4 -2
View File
@@ -22,7 +22,7 @@ except ImportError:
from COMTool.widgets import statusBar
class Plugin(Plugin_Base):
id = "DEIFEI"
id = "DUIFEI"
name = _("DUIFEI")
showReceiveDataSignal = pyqtSignal(str)
@@ -181,7 +181,7 @@ class Plugin(Plugin_Base):
self.config["customSendItems"] = newItems
self.showReceiveDataSignal.connect(self.showReceivedData)
# frame struct
self.structSelfTestRsp = Struct("<BB B BBBbbb BbBBB H")
self.structSelfTestRsp = Struct("<BB B BBBbbb BbBBB BB")
self.structStatusCheckRsp = Struct("<BB Q HIII IBBBBI BBHH HHHIIIIII i II 4s IIII d Q dBB dB H B 3s BBBbbb BbBBB 2s")
self.structFljData = Struct("<dddd IHI fff fff")
self.structLjData = Struct("<IHI ffff IHI fff fff fff IHI fff fff fff IHI fff fff fff I")
@@ -260,6 +260,8 @@ class Plugin(Plugin_Base):
ret = "----------- 自检回令 -----------\n"
ret += f"节点编号: 0x{payload[-2]:02X}\n"
ret += "节点类型: "
if payload[1] == 0xDD:
ret += f"K频段 (0x{payload[1]:02X})\n"
df_datalink_ge/src/config/app_config.h
+2
View File
@@ -35,6 +35,8 @@
// 2 - print warnings and errors
// 1 - print only errors
// other - print nothing
#define APP_EMULATE_DATA
#define DATALINK_ENABLE_AUTORECONNECT
#define DATALINK_ENABLE_AUTOTIMESYNC
//#define DATALINK_ENABLE_BERTEST
df_datalink_ge/src/main.c
+56 -3
View File
@@ -88,7 +88,6 @@ L2_CONFIG linkConfig =
.clustId = 1,
.myId = 1,
.headId = 1,
.bkpHeadId = 0,
.netScale = 2,
.phyInstPtr = NULL, // physical layer reference
.tmcInstPtr = NULL
@@ -99,7 +98,6 @@ L2_CONFIG linkConfig =
// .clustId = 1,
// .myId = 2,
// .headId = 1,
// .bkpHeadId = 0,
// .netScale = 2,
// .phyInstPtr = NULL, // physical layer reference
// .tmcInstPtr = NULL
@@ -132,6 +130,47 @@ static MPC_CONFIG mpcConfig = {
.txQueueMax = 16,
.rxQueueMax = 16
};
#ifdef APP_EMULATE_DATA
uint8_t testDataLj[] =
{
0xEA, 0xDF, 0x3F, 0x27, 0xCE, 0x9B, 0xE6, 0x3F,
0xB5, 0xA3, 0x38, 0x47, 0x1D, 0x1D, 0xFA, 0x3F,
0x39, 0xB4, 0xC8, 0x76, 0xBE, 0xAB, 0x8E, 0x40,
0xC9, 0xE8, 0x80, 0x24, 0xEC, 0xCB, 0x13, 0x40,
0x37, 0x38, 0x7F, 0x22, 0x72, 0x06, 0xF0, 0x01,
0x00, 0x00, 0xB8, 0xAA, 0x08, 0x47, 0x1E, 0xC6,
0xB0, 0x47, 0x54, 0xFD, 0xEB, 0x45, 0xA1, 0x8A,
0x86, 0x44, 0x43, 0xB6, 0xC8, 0x44, 0x4E, 0x19,
0xA8, 0x42
};
uint8_t testDataFlj[] =
{
0xFD, 0x1E, 0xA5, 0x22, 0x72, 0x02, 0x5A, 0x02,
0x00, 0x00, 0x81, 0x97, 0x39, 0x3F, 0xF1, 0xF4,
0xC0, 0x3F, 0x27, 0xF1, 0x65, 0x44, 0x53, 0x5C,
0xD3, 0x3F, 0xB5, 0x24, 0xA6, 0x22, 0x72, 0x02,
0x83, 0x01, 0x00, 0x00, 0xFC, 0xE0, 0x44, 0x47,
0xB7, 0x83, 0x35, 0x47, 0xA4, 0xBF, 0xE5, 0xC4,
0xE8, 0xDC, 0xD1, 0x44, 0x5D, 0x5D, 0xE7, 0x44,
0x7D, 0x1B, 0xE8, 0xC1, 0x60, 0x97, 0x57, 0x42,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x5D, 0x86, 0xA6, 0x22, 0x72, 0x02, 0xA5, 0x02,
0x00, 0x00, 0x97, 0x4E, 0xB5, 0x47, 0xC4, 0x2A,
0xB0, 0x47, 0x2D, 0x00, 0x21, 0xC5, 0x8A, 0x85,
0xD1, 0x44, 0x23, 0xFD, 0xC8, 0x44, 0xA1, 0xC4,
0xEA, 0xC1, 0x91, 0x4E, 0x71, 0xC2, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6D, 0xAD,
0xA6, 0x22, 0x72, 0x02, 0xA5, 0x02, 0x00, 0x00,
0xCD, 0x07, 0xD6, 0x47, 0x1D, 0xA4, 0xCE, 0x47,
0x6E, 0x61, 0x33, 0xC5, 0x85, 0x55, 0xD1, 0x44,
0x9C, 0x16, 0xBD, 0x44, 0x36, 0xC0, 0xEB, 0xC1,
0xF0, 0xFF, 0x5B, 0x42, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x78, 0x25, 0x03, 0x00
};
#endif
/************************** Function Prototypes ******************************/
static struct irq_ctrl_desc *intcDescPtr; // General interrupt controller descriptor
static struct timer_desc *logTmPtr;
@@ -375,6 +414,10 @@ void ScuTimer_IntrHandler(void *context)
{
// Refresh log
Phy_RefreshHwSate(phyInstPtr);
if (TimeCtrl_GetIntCnt(tmcInstPtr) - phyInstPtr->lastLogTime >= PHY_LOG_EXPIRE)
{
Phy_UpdateLogging(phyInstPtr);
}
if (Mpc_IsEnable(mpcDescPtr))
{
@@ -382,6 +425,16 @@ void ScuTimer_IntrHandler(void *context)
{
DBG_ERROR("Failed to apply remote test.\n");
}
#ifdef APP_EMULATE_DATA
if (L2_GetNodeType(linkInstPtr) == L2_NODE_HEAD)
{
SysMonitor_UpdateSendPayload(testDataFlj, PAYLOAD_LEN_FLJ_TX);
}
else
{
SysMonitor_UpdateSendPayload(testDataLj, PAYLOAD_LEN_LJ_TX);
}
#endif
}
XScuTimer_ClearInterruptStatus((XScuTimer *)xdesc->instance);
@@ -443,7 +496,7 @@ int main(void)
}
/* Physical Layer Initialize */
Status = Phy_InstInit(&phyInstPtr, &phyConfig);
Status = Phy_Init(&phyInstPtr, &phyConfig);
if (Status == SUCCESS)
{
DBG_PRINT("Physical layer Init SUCCESS! \n");
df_datalink_ge/src/mpc/mpc.c
+38 -35
View File
@@ -151,13 +151,14 @@ static int32_t Mpc_GenSelfTestRsp(MPC *instPtr)
ASSERT(instPtr != NULL);
MPC_HW_FRAME *mpcRsp;
uint8_t *msg;
if (instPtr->isEnable == false)
if (Mpc_IsEnable(instPtr) == false)
{
DBG_ERROR("System is not enabled!\n");
return EIGNORE;
}
mpcRsp = malloc(sizeof(MPC_HW_FRAME));
if (mpcRsp == NULL) {
if (mpcRsp == NULL)
{
DBG_ERROR("Failed to allocate memory for LJ REMOTE TEST Response!\n");
return ENOMEM;
}
@@ -169,13 +170,13 @@ static int32_t Mpc_GenSelfTestRsp(MPC *instPtr)
msg[WD_CMD] = CMD_SELF_TEST;
msg[WD_PRD] = MY_PRD_ID;
SysMonitor_GetHardwareStatus(hwStatsPtr);
if (linkInstPtr->isEnable == false)
if (Mpc_IsEnable(instPtr))
{
msg[WD_ST_RET] = (hwStatsPtr->isSpOk) ? ST_RET_OK : ST_RET_ERROR;
msg[WD_ST_RET] = (hwStatsPtr->isSpOk && hwStatsPtr->isAntOk) ? ST_RET_OK : ST_RET_ERROR;
}
else
{
msg[WD_ST_RET] = (hwStatsPtr->isSpOk && hwStatsPtr->isAntOk) ? ST_RET_OK : ST_RET_ERROR;
msg[WD_ST_RET] = (hwStatsPtr->isSpOk) ? ST_RET_OK : ST_RET_ERROR;
}
// apply status and omit 2 bytes of overhead.
memcpy(msg + WD_SP_FPGA_VOLT, &(hwStatsPtr->spFpgaVolt), ST_RET_INFO_LEN);
@@ -201,47 +202,49 @@ static int32_t Mpc_SystemConfig(MPC *instPtr, uint8_t *msg)
if (msg[WD_MODE_CMD] == MODE_CMD_HEAD)
{
// omit unnecessary reconfiguration
if (L2_GetNodeType(linkInstPtr) != L2_NODE_HEAD)
{
// head node config
linkConfig.myType = L2_NODE_HEAD;
linkConfig.myId = 1;
reconfig = true;
}
reconfig = (L2_NODE_HEAD != L2_GetNodeType(linkInstPtr));
linkConfig.myType = L2_NODE_HEAD;
linkConfig.myId = 2;
}
else if (msg[WD_MODE_CMD] == MODE_CMD_MEMBER )
else if (msg[WD_MODE_CMD] == MODE_CMD_MEMBER)
{
// omit unnecessary reconfiguration
if (L2_GetNodeType(linkInstPtr) != L2_NODE_MEMBER)
{
// member node config
linkConfig.myType = L2_NODE_MEMBER;
linkConfig.myId = 2;
reconfig = true;
}
reconfig = (L2_NODE_MEMBER != L2_GetNodeType(linkInstPtr));
linkConfig.myType = L2_NODE_MEMBER;
linkConfig.myId = 2;
}
else
{
// Ignore current command
DBG_ERROR("Unexpected config command 0x%02X:0x%02X",
WD_MODE_CMD, msg[WD_MODE_CMD]);
return EPARAM;
WD_MODE_CMD, msg[WD_MODE_CMD]);
return EIGNORE;
}
if(msg[WD_EN_CMD] == EN_CMD_ON_HIGH_POWER)
if (msg[WD_EN_CMD] == EN_CMD_ON_HIGH_POWER)
{
// high power config
Phy_AntConfigMode(phyRef, PHY_ANT_MODE_POWER_FULL);
if (reconfig == true || !Mpc_IsEnable(instPtr))
{
Linklayer_Reconfig(linkInstPtr, &linkConfig);
}
Linklayer_Start(linkInstPtr);
instPtr->isEnable = true;
}
else if(msg[WD_EN_CMD] == EN_CMD_ON_LOW_POWER)
else if (msg[WD_EN_CMD] == EN_CMD_ON_LOW_POWER)
{
// low power config
Phy_AntConfigMode(phyRef, PHY_ANT_MODE_POWER_LOW);
if (reconfig == true || !Mpc_IsEnable(instPtr))
{
Linklayer_Reconfig(linkInstPtr, &linkConfig);
}
Linklayer_Start(linkInstPtr);
instPtr->isEnable = true;
}
else if(msg[WD_EN_CMD] == EN_CMD_SILENT)
else if (msg[WD_EN_CMD] == EN_CMD_SILENT)
{
// silence config
// TODO: better approach?
@@ -256,20 +259,18 @@ static int32_t Mpc_SystemConfig(MPC *instPtr, uint8_t *msg)
}
Phy_SetupNextSlot(phyRef, PHY_TOR_RX, L1_10KBPS_10MS_FRAME, NULL);
}
if (reconfig == true)
else
{
Linklayer_Reconfig(linkInstPtr, &linkConfig);
}
if (instPtr->isEnable == true)
{
Linklayer_Start(linkInstPtr);
// Ignore current command
DBG_ERROR("Unexpected config command 0x%02X:0x%02X",
WD_EN_CMD, msg[WD_EN_CMD]);
return EIGNORE;
}
instPtr->mpcLog.lastConfig[0] = msg[WD_MODE_CMD];
instPtr->mpcLog.lastConfig[1] = msg[WD_EN_CMD];
return SUCCESS;
}
/*****************************************************************************/
/**
* @brief Initialize MPC instance.
@@ -371,13 +372,14 @@ int32_t Mpc_PendRemoteTest(MPC *instPtr)
{
MPC_HW_FRAME *mpcRsp;
uint8_t *msg;
if (instPtr->isEnable == false)
if (!Mpc_IsEnable(instPtr))
{
DBG_ERROR("System is not enabled!\n");
return EIGNORE;
}
mpcRsp = malloc(sizeof(MPC_HW_FRAME));
if (mpcRsp == NULL) {
if (mpcRsp == NULL)
{
DBG_ERROR("Failed to allocate memory for LJ REMOTE TEST Response!\n");
return ENOMEM;
}
@@ -407,7 +409,8 @@ int32_t Mpc_PendRemoteTest(MPC *instPtr)
memcpy(msg + WD_PHY_LOG, &(instPtr->phyLog), WD_PHY_LOG_LEN);
memcpy(msg + WD_HARDWARE_ST, &(instPtr->hwState.spFpgaVolt), WD_HARDWARE_ST_LEN);
if (CircQueuePush(instPtr->txQueue, (void *)mpcRsp) == false){
if (CircQueuePush(instPtr->txQueue, (void *)mpcRsp) == false)
{
free(mpcRsp);
DBG_WARNING("SystemBus::TX Queue overflowed!\n");
return EQUEUE;
df_datalink_sp/bsp/ps7_cortexa9_0/include/xparameters.h
+24 -24
View File
@@ -24,7 +24,7 @@
/* Definitions for interface TMC */
#define XPAR_TMC_BASEADDR 0x43C30000
#define XPAR_TMC_HIGHADDR 0x43C3FFFF
#define XPAR_TMC_HIGHADDR 0x43C30FFF
#include "xparameters_ps.h"
@@ -62,22 +62,22 @@
#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_S_AXI_CTRL_HIGHADDR 0xFFFFFFFFU
/* Definitions for peripheral PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL */
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DEVICE_ID 1U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DATA_WIDTH 32U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_FAULT_INJECT 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_CE_FAILING_REGISTERS 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_UE_FAILING_REGISTERS 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_STATUS_REGISTERS 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_CE_COUNTER_WIDTH 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_ONOFF_REGISTER 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_ONOFF_RESET_VALUE 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_WRITE_ACCESS 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_BASEADDR 0x40004000U
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_HIGHADDR 0x40005FFFU
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_CTRL_BASEADDR 0xFFFFFFFFU
#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_CTRL_HIGHADDR 0xFFFFFFFFU
/* Definitions for peripheral PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL */
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DEVICE_ID 1U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DATA_WIDTH 32U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_FAULT_INJECT 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_CE_FAILING_REGISTERS 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_UE_FAILING_REGISTERS 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_STATUS_REGISTERS 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_CE_COUNTER_WIDTH 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_ONOFF_REGISTER 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_ONOFF_RESET_VALUE 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_WRITE_ACCESS 0U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_BASEADDR 0x40004000U
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_HIGHADDR 0x40005FFFU
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_CTRL_BASEADDR 0xFFFFFFFFU
#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_CTRL_HIGHADDR 0xFFFFFFFFU
/* Definitions for peripheral PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL */
@@ -93,7 +93,7 @@
#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_ECC_ONOFF_RESET_VALUE 0U
#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_WRITE_ACCESS 0U
#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_S_AXI_BASEADDR 0x40000000U
#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_S_AXI_HIGHADDR 0x40001FFFU
#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_S_AXI_HIGHADDR 0x40000FFFU
#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_S_AXI_CTRL_BASEADDR 0xFFFFFFFFU
#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_S_AXI_CTRL_HIGHADDR 0xFFFFFFFFU
@@ -111,7 +111,7 @@
#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_ECC_ONOFF_RESET_VALUE 0U
#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_WRITE_ACCESS 0U
#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_S_AXI_BASEADDR 0x40002000U
#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_S_AXI_HIGHADDR 0x40003FFFU
#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_S_AXI_HIGHADDR 0x40002FFFU
#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_S_AXI_CTRL_BASEADDR 0xFFFFFFFFU
#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_S_AXI_CTRL_HIGHADDR 0xFFFFFFFFU
@@ -135,8 +135,8 @@
#define XPAR_BRAM_0_CTRL_BASEADDR 0xFFFFFFFFU
#define XPAR_BRAM_0_CTRL_HIGHADDR 0xFFFFFFFEU
/* Canonical definitions for peripheral PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL */
#define XPAR_BRAM_1_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DEVICE_ID
/* Canonical definitions for peripheral PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL */
#define XPAR_BRAM_1_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DEVICE_ID
#define XPAR_BRAM_1_DATA_WIDTH 32U
#define XPAR_BRAM_1_ECC 0U
#define XPAR_BRAM_1_FAULT_INJECT 0U
@@ -165,7 +165,7 @@
#define XPAR_BRAM_2_ECC_ONOFF_RESET_VALUE 0U
#define XPAR_BRAM_2_WRITE_ACCESS 0U
#define XPAR_BRAM_2_BASEADDR 0x40000000U
#define XPAR_BRAM_2_HIGHADDR 0x40001FFFU
#define XPAR_BRAM_2_HIGHADDR 0x40000FFFU
#define XPAR_BRAM_2_CTRL_BASEADDR 0xFFFFFFFFU
#define XPAR_BRAM_2_CTRL_HIGHADDR 0xFFFFFFFEU
@@ -182,7 +182,7 @@
#define XPAR_BRAM_3_ECC_ONOFF_RESET_VALUE 0U
#define XPAR_BRAM_3_WRITE_ACCESS 0U
#define XPAR_BRAM_3_BASEADDR 0x40002000U
#define XPAR_BRAM_3_HIGHADDR 0x40003FFFU
#define XPAR_BRAM_3_HIGHADDR 0x40002FFFU
#define XPAR_BRAM_3_CTRL_BASEADDR 0xFFFFFFFFU
#define XPAR_BRAM_3_CTRL_HIGHADDR 0xFFFFFFFEU
@@ -346,7 +346,7 @@
/* Definitions for peripheral SYSTEMBUS */
#define XPAR_SYSTEMBUS_BASEADDR 0x43C10000
#define XPAR_SYSTEMBUS_HIGHADDR 0x43C11FFF
#define XPAR_SYSTEMBUS_HIGHADDR 0x43C10FFF
/******************************************************************/
df_datalink_sp/bsp/ps7_cortexa9_0/libsrc/bram_v4_3/src/xbram_g.c
+15 -15
View File
@@ -62,23 +62,23 @@ XBram_Config XBram_ConfigTable[] =
XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_S_AXI_CTRL_HIGHADDR
},
{
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DEVICE_ID,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DATA_WIDTH,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_FAULT_INJECT,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_CE_FAILING_REGISTERS,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DEVICE_ID,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DATA_WIDTH,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_FAULT_INJECT,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_CE_FAILING_REGISTERS,
0,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_UE_FAILING_REGISTERS,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_UE_FAILING_REGISTERS,
0,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_STATUS_REGISTERS,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_CE_COUNTER_WIDTH,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_ONOFF_REGISTER,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_ONOFF_RESET_VALUE,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_WRITE_ACCESS,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_BASEADDR,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_HIGHADDR,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_CTRL_BASEADDR,
XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_CTRL_HIGHADDR
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_STATUS_REGISTERS,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_CE_COUNTER_WIDTH,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_ONOFF_REGISTER,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_ONOFF_RESET_VALUE,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_WRITE_ACCESS,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_BASEADDR,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_HIGHADDR,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_CTRL_BASEADDR,
XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_CTRL_HIGHADDR
},
{
XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_DEVICE_ID,
df_datalink_sp/bsp/system.mss
+1 -1
View File
@@ -33,7 +33,7 @@ END
BEGIN DRIVER
PARAMETER DRIVER_NAME = bram
PARAMETER DRIVER_VER = 4.3
PARAMETER HW_INSTANCE = phy_data_interface_ant_info_bram_ctrl
PARAMETER HW_INSTANCE = phy_data_interface_ant_config_bram_ctrl
END
BEGIN DRIVER
df_datalink_sp/src/config/app_config.h
+98 -99
View File
@@ -10,7 +10,7 @@
* History:
* [2021-04-28]: Initial edition.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Copyright(c) 2024 Beijing Institute of Technology.
* Lab of Communication and Networking
*
******************************************************************************/
@@ -23,11 +23,11 @@
#include "xparameters.h"
/******** Software Version ********/
#define _APP_VER 0x00010008
#define _APP_VER 0x00010008
#define _APP_VER_MAIN ((_APP_VER & 0xFF000000) >> 24)
#define _APP_VER_MINOR ((_APP_VER & 0x00FF0000) >> 16)
#define _APP_VER_PATCH (_APP_VER & 0x0000FFFF)
#define _APP_VER_MAIN ((_APP_VER & 0xFF000000) >> 24)
#define _APP_VER_MINOR ((_APP_VER & 0x00FF0000) >> 16)
#define _APP_VER_PATCH (_APP_VER & 0x0000FFFF)
/*********** Debug Info Level ************/
// #define _DEBUG_LEVEL 1
@@ -38,13 +38,13 @@
#define DATALINK_ENABLE_AUTORECONNECT
#define DATALINK_ENABLE_AUTOTIMESYNC
//#define DATALINK_ENABLE_BERTEST
// #define DATALINK_ENABLE_BERTEST
/************ Hardware Configs ************/
#define CPU_CLK_HZ XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ
#define GLOBAL_TIMER_CLK_HZ (CPU_CLK_HZ/2)
#define SCU_TIMER_CLK_HZ (CPU_CLK_HZ/2)
#define FCLK_CLK0_HZ 100000000
#define CPU_CLK_HZ XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ
#define GLOBAL_TIMER_CLK_HZ (CPU_CLK_HZ / 2)
#define SCU_TIMER_CLK_HZ (CPU_CLK_HZ / 2)
#define FCLK_CLK0_HZ 100000000
/********* Zynq Platform Configs **********/
// SCU Timer (for logging)
@@ -53,10 +53,10 @@
// Physical Layer Configs
#define PHY_DEVICE_ID 0
#define PHY_BASEADDR XPAR_PHYC_BASEADDR
#define PHY_BASEADDR XPAR_PHYC_BASEADDR
#define PHY_BEAM_FORMING_ENABLE
// -- Antenna Bram Configs
#define PHY_ANTCONFIG_BRAM_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DEVICE_ID
#define PHY_ANTCONFIG_BRAM_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DEVICE_ID
#define PHY_ANTINFO_BRAM_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_DEVICE_ID
// -- Buffers
#define PHY_TXBUFF_BRAM_DEVICE_ID XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_DEVICE_ID
@@ -71,88 +71,88 @@
#define TIME_CONTROLLER_BASEADDR XPAR_TMC_BASEADDR
// System Bus Configs
#define SYSBUS_BASE_ADDR XPAR_SYSTEMBUS_BASEADDR
#define SYSBUS_TX_INTR_ID XPAR_FABRIC_SYSTEMBUS_TX_DONE_INTR
#define SYSBUS_RX_INTR_ID XPAR_FABRIC_SYSTEMBUS_RX_DONE_INTR
#define SYSBUS_BASE_ADDR XPAR_SYSTEMBUS_BASEADDR
#define SYSBUS_TX_INTR_ID XPAR_FABRIC_SYSTEMBUS_TX_DONE_INTR
#define SYSBUS_RX_INTR_ID XPAR_FABRIC_SYSTEMBUS_RX_DONE_INTR
// Global Timer config
#define GLOBAL_TIMER_DEVICE_ID XPAR_GLOBAL_TMR_DEVICE_ID
#define GLOBAL_TIMER_BASEADDR XPAR_GLOBAL_TMR_BASEADDR
#define GLOBAL_TIMER_INTR_ID XPAR_GLOBAL_TMR_INTR
#define GLOBAL_TIMER_DEVICE_ID XPAR_GLOBAL_TMR_DEVICE_ID
#define GLOBAL_TIMER_BASEADDR XPAR_GLOBAL_TMR_BASEADDR
#define GLOBAL_TIMER_INTR_ID XPAR_GLOBAL_TMR_INTR
// INTC configis
#define INTC_DEVICE_ID XPAR_SCUGIC_0_DEVICE_ID
// AD9361 Configuration
#define SPI_INTERFACE_SPI_ENGINE
#define HAVE_SPLIT_GAIN_TABLE 1 /* only set to 0 in case split_gain_table_mode_enable = 0*/
#define HAVE_TDD_SYNTH_TABLE 1 /* only set to 0 in case split_gain_table_mode_enable = 0*/
#define AD9361_DEVICE 1 /* set it 1 if AD9361 device is used, 0 otherwise */
#define AD9364_DEVICE 0 /* set it 1 if AD9364 device is used, 0 otherwise */
#define AD9363A_DEVICE 0 /* set it 1 if AD9363A device is used, 0 otherwise */
#define HAVE_VERBOSE_MESSAGES /* Recommended during development prints errors and warnings */
//#define HAVE_DEBUG_MESSAGES /* For Debug purposes only */
// -- AD9361 SPI Engine Configuration
#define AD9361_SPI_DEVICE_ID 0
#define AD9361_SPI_ENGINE_REF_CLK FCLK_CLK0_HZ
#define AD9361_SPI_ENGINE_MAX_SPEED 5000000
#define AD9361_SPI_ENGINE_BASEADDR XPAR_AXI_SPI_ENGINE_AXI_SPI_ENGINE_BASEADDR
#define AD9361_SPI_ENGINE_DATA_WIDTH 8
#define AD9361_SPI_ENGINE_CS_DELAY 3
#define AD9361_SPI_CS_AD9361_1 0x01
#define AD9361_SPI_CS_AD9361_2 0x02
#define AD9361_TIMEOUT_TH 2000
#define HAVE_SPLIT_GAIN_TABLE 1 /* only set to 0 in case split_gain_table_mode_enable = 0*/
#define HAVE_TDD_SYNTH_TABLE 1 /* only set to 0 in case split_gain_table_mode_enable = 0*/
#define AD9361_DEVICE 1 /* set it 1 if AD9361 device is used, 0 otherwise */
#define AD9364_DEVICE 0 /* set it 1 if AD9364 device is used, 0 otherwise */
#define AD9363A_DEVICE 0 /* set it 1 if AD9363A device is used, 0 otherwise */
#define HAVE_VERBOSE_MESSAGES /* Recommended during development prints errors and warnings */
// #define HAVE_DEBUG_MESSAGES /* For Debug purposes only */
// -- AD9361 SPI Engine Configuration
#define AD9361_SPI_DEVICE_ID 0
#define AD9361_SPI_ENGINE_REF_CLK FCLK_CLK0_HZ
#define AD9361_SPI_ENGINE_MAX_SPEED 5000000
#define AD9361_SPI_ENGINE_BASEADDR XPAR_AXI_SPI_ENGINE_AXI_SPI_ENGINE_BASEADDR
#define AD9361_SPI_ENGINE_DATA_WIDTH 8
#define AD9361_SPI_ENGINE_CS_DELAY 3
#define AD9361_SPI_CS_AD9361_1 0x01
#define AD9361_SPI_CS_AD9361_2 0x02
#define AD9361_TIMEOUT_TH 2000
// AD9361 GPIO Configurations
#define AD9361_GPIO_DEVICE_ID 0
#define AD9361_GPIO_OFFSET 54
#define AD9361_GPIO_INPUT 0
#define AD9361_GPIO_OUTPUT 1
#define AD9361_GPIO_DISABLE 0
#define AD9361_GPIO_ENABLE 1
#define AD9361_GPIO_DEVICE_ID 0
#define AD9361_GPIO_OFFSET 54
#define AD9361_GPIO_INPUT 0
#define AD9361_GPIO_OUTPUT 1
#define AD9361_GPIO_DISABLE 0
#define AD9361_GPIO_ENABLE 1
// -- AD9361-1
#define AD9361_1_TXNRX (AD9361_GPIO_OFFSET+6)
#define AD9361_1_ENABLE (AD9361_GPIO_OFFSET+7)
#define AD9361_1_EN_AGC (AD9361_GPIO_OFFSET+8)
#define AD9361_1_RESET_B (AD9361_GPIO_OFFSET+9)
#define AD9361_1_CTRL_OUT0 (AD9361_GPIO_OFFSET+10)
#define AD9361_1_CTRL_OUT1 (AD9361_GPIO_OFFSET+11)
#define AD9361_1_CTRL_OUT2 (AD9361_GPIO_OFFSET+12)
#define AD9361_1_CTRL_OUT3 (AD9361_GPIO_OFFSET+13)
#define AD9361_1_CTRL_OUT4 (AD9361_GPIO_OFFSET+14)
#define AD9361_1_CTRL_OUT5 (AD9361_GPIO_OFFSET+15)
#define AD9361_1_CTRL_OUT6 (AD9361_GPIO_OFFSET+16)
#define AD9361_1_CTRL_OUT7 (AD9361_GPIO_OFFSET+17)
#define AD9361_1_CTRL_IN0 (AD9361_GPIO_OFFSET+18)
#define AD9361_1_CTRL_IN1 (AD9361_GPIO_OFFSET+19)
#define AD9361_1_CTRL_IN2 (AD9361_GPIO_OFFSET+20)
#define AD9361_1_CTRL_IN3 (AD9361_GPIO_OFFSET+21)
#define AD9361_1_TXNRX (AD9361_GPIO_OFFSET + 6)
#define AD9361_1_ENABLE (AD9361_GPIO_OFFSET + 7)
#define AD9361_1_EN_AGC (AD9361_GPIO_OFFSET + 8)
#define AD9361_1_RESET_B (AD9361_GPIO_OFFSET + 9)
#define AD9361_1_CTRL_OUT0 (AD9361_GPIO_OFFSET + 10)
#define AD9361_1_CTRL_OUT1 (AD9361_GPIO_OFFSET + 11)
#define AD9361_1_CTRL_OUT2 (AD9361_GPIO_OFFSET + 12)
#define AD9361_1_CTRL_OUT3 (AD9361_GPIO_OFFSET + 13)
#define AD9361_1_CTRL_OUT4 (AD9361_GPIO_OFFSET + 14)
#define AD9361_1_CTRL_OUT5 (AD9361_GPIO_OFFSET + 15)
#define AD9361_1_CTRL_OUT6 (AD9361_GPIO_OFFSET + 16)
#define AD9361_1_CTRL_OUT7 (AD9361_GPIO_OFFSET + 17)
#define AD9361_1_CTRL_IN0 (AD9361_GPIO_OFFSET + 18)
#define AD9361_1_CTRL_IN1 (AD9361_GPIO_OFFSET + 19)
#define AD9361_1_CTRL_IN2 (AD9361_GPIO_OFFSET + 20)
#define AD9361_1_CTRL_IN3 (AD9361_GPIO_OFFSET + 21)
// AD9361-2
#define AD9361_2_TXNRX (AD9361_GPIO_OFFSET+22)
#define AD9361_2_ENABLE (AD9361_GPIO_OFFSET+23)
#define AD9361_2_EN_AGC (AD9361_GPIO_OFFSET+24)
#define AD9361_2_RESET_B (AD9361_GPIO_OFFSET+25)
#define AD9361_2_CTRL_OUT0 (AD9361_GPIO_OFFSET+26)
#define AD9361_2_CTRL_OUT1 (AD9361_GPIO_OFFSET+27)
#define AD9361_2_CTRL_OUT2 (AD9361_GPIO_OFFSET+28)
#define AD9361_2_CTRL_OUT3 (AD9361_GPIO_OFFSET+29)
#define AD9361_2_CTRL_OUT4 (AD9361_GPIO_OFFSET+30)
#define AD9361_2_CTRL_OUT5 (AD9361_GPIO_OFFSET+31)
#define AD9361_2_CTRL_OUT6 (AD9361_GPIO_OFFSET+32)
#define AD9361_2_CTRL_OUT7 (AD9361_GPIO_OFFSET+33)
#define AD9361_2_CTRL_IN0 (AD9361_GPIO_OFFSET+34)
#define AD9361_2_CTRL_IN1 (AD9361_GPIO_OFFSET+35)
#define AD9361_2_CTRL_IN2 (AD9361_GPIO_OFFSET+36)
#define AD9361_2_CTRL_IN3 (AD9361_GPIO_OFFSET+37)
#define AD9361_2_TXNRX (AD9361_GPIO_OFFSET + 22)
#define AD9361_2_ENABLE (AD9361_GPIO_OFFSET + 23)
#define AD9361_2_EN_AGC (AD9361_GPIO_OFFSET + 24)
#define AD9361_2_RESET_B (AD9361_GPIO_OFFSET + 25)
#define AD9361_2_CTRL_OUT0 (AD9361_GPIO_OFFSET + 26)
#define AD9361_2_CTRL_OUT1 (AD9361_GPIO_OFFSET + 27)
#define AD9361_2_CTRL_OUT2 (AD9361_GPIO_OFFSET + 28)
#define AD9361_2_CTRL_OUT3 (AD9361_GPIO_OFFSET + 29)
#define AD9361_2_CTRL_OUT4 (AD9361_GPIO_OFFSET + 30)
#define AD9361_2_CTRL_OUT5 (AD9361_GPIO_OFFSET + 31)
#define AD9361_2_CTRL_OUT6 (AD9361_GPIO_OFFSET + 32)
#define AD9361_2_CTRL_OUT7 (AD9361_GPIO_OFFSET + 33)
#define AD9361_2_CTRL_IN0 (AD9361_GPIO_OFFSET + 34)
#define AD9361_2_CTRL_IN1 (AD9361_GPIO_OFFSET + 35)
#define AD9361_2_CTRL_IN2 (AD9361_GPIO_OFFSET + 36)
#define AD9361_2_CTRL_IN3 (AD9361_GPIO_OFFSET + 37)
// AD9361-Status Code
#define AD9361_SYNC (AD9361_GPIO_OFFSET+38)
#define AD9361_RX_FIFO_RST (AD9361_GPIO_OFFSET+39)
#define AD9361_1_CAL_START (AD9361_GPIO_OFFSET+40)
#define AD9361_2_CAL_START (AD9361_GPIO_OFFSET+41)
#define AD9361_RECAL (AD9361_GPIO_OFFSET+42)
#define AD9361_TX_SWITCH (AD9361_GPIO_OFFSET+43)
#define AD9361_1_CAL_DONE (AD9361_GPIO_OFFSET+44)
#define AD9361_2_CAL_DONE (AD9361_GPIO_OFFSET+45)
#define AD9361_CAL_RESULT (AD9361_GPIO_OFFSET+46)
#define AD9361_SYNC (AD9361_GPIO_OFFSET + 38)
#define AD9361_RX_FIFO_RST (AD9361_GPIO_OFFSET + 39)
#define AD9361_1_CAL_START (AD9361_GPIO_OFFSET + 40)
#define AD9361_2_CAL_START (AD9361_GPIO_OFFSET + 41)
#define AD9361_RECAL (AD9361_GPIO_OFFSET + 42)
#define AD9361_TX_SWITCH (AD9361_GPIO_OFFSET + 43)
#define AD9361_1_CAL_DONE (AD9361_GPIO_OFFSET + 44)
#define AD9361_2_CAL_DONE (AD9361_GPIO_OFFSET + 45)
#define AD9361_CAL_RESULT (AD9361_GPIO_OFFSET + 46)
typedef enum
{
@@ -162,23 +162,22 @@ typedef enum
} ad9361TxFreq;
// HMC7044 Configurations
#define HMC7044_GPIO_DEVICE_ID 0
#define HMC7044_GPIO_OFFSET 54
#define HMC7044_RESET (HMC7044_GPIO_OFFSET+0)
#define HMC7044_SYNC (HMC7044_GPIO_OFFSET+1)
#define HMC7044_GPIO_0 (HMC7044_GPIO_OFFSET+2)
#define HMC7044_GPIO_1 (HMC7044_GPIO_OFFSET+3)
#define HMC7044_GPIO_2 (HMC7044_GPIO_OFFSET+4)
#define HMC7044_GPIO_3 (HMC7044_GPIO_OFFSET+5)
#define HMC7044_GPIO_DEVICE_ID 0
#define HMC7044_GPIO_OFFSET 54
#define HMC7044_RESET (HMC7044_GPIO_OFFSET + 0)
#define HMC7044_SYNC (HMC7044_GPIO_OFFSET + 1)
#define HMC7044_GPIO_0 (HMC7044_GPIO_OFFSET + 2)
#define HMC7044_GPIO_1 (HMC7044_GPIO_OFFSET + 3)
#define HMC7044_GPIO_2 (HMC7044_GPIO_OFFSET + 4)
#define HMC7044_GPIO_3 (HMC7044_GPIO_OFFSET + 5)
// -- HMC7044 SPI Engine Configuration
#define HMC7044_SPI_DEVICE_ID 0
#define HMC7044_SPI_ENGINE_REF_CLK FCLK_CLK0_HZ
#define HMC7044_SPI_ENGINE_MAX_SPEED 5000000
#define HMC7044_SPI_ENGINE_BASEADDR XPAR_AXI_SPI_ENGINE_AXI_SPI_ENGINE_BASEADDR
#define HMC7044_SPI_ENGINE_DATA_WIDTH 8
#define HMC7044_SPI_ENGINE_CS_DELAY 3
#define HMC7044_SPI_CS_HMC7044 0x00
#define HMC7044_SPI_DEVICE_ID 0
#define HMC7044_SPI_ENGINE_REF_CLK FCLK_CLK0_HZ
#define HMC7044_SPI_ENGINE_MAX_SPEED 5000000
#define HMC7044_SPI_ENGINE_BASEADDR XPAR_AXI_SPI_ENGINE_AXI_SPI_ENGINE_BASEADDR
#define HMC7044_SPI_ENGINE_DATA_WIDTH 8
#define HMC7044_SPI_ENGINE_CS_DELAY 3
#define HMC7044_SPI_CS_HMC7044 0x00
// Configuration Check
#if defined(PHY_BEAM_SET_PRESET) && !defined(PHY_BEAM_FORMING_ENABLE)
@@ -188,7 +187,7 @@ typedef enum
#if defined(DATALINK_ENABLE_BERTEST)
#if !defined(DATALINK_ENABLE_AUTOTIMESYNC)
#warning To enbale bit error rate test, auto time-sync should be enabled...
#warning To enbale bit error rate test, auto time-sync should be enabled...
#endif
#endif
df_datalink_sp/src/drivers/axi_core/spi_engine/spi_engine.c
-1
View File
@@ -697,7 +697,6 @@ int32_t spi_engine_write_and_read(struct spi_desc *desc,
uint8_t *data,
uint16_t bytes_number)
{
uint8_t i;
uint8_t word_len;
uint8_t words_number;
int32_t ret;
df_datalink_sp/src/hwconfig.c
+5
View File
@@ -214,6 +214,11 @@ int32_t Hardware_Init(void)
Status = Hardware_SwitchFreq(ad9361_1_reg_inst, TX_FREQ_4125);
XGpioPs_WritePin(&Gpio, AD9361_TX_SWITCH, 0);
Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0109, 0x00); // Rx Gain
Status = ad9361_reg_write(ad9361_1_reg_inst, 0x010C, 0x00); // Rx Gain
Status = ad9361_reg_write(ad9361_2_reg_inst, 0x0109, 0x00); // Rx Gain
Status = ad9361_reg_write(ad9361_2_reg_inst, 0x010C, 0x00); // Rx Gain
DBG_PRINT("Done.\n");
return SUCCESS;
df_datalink_sp/src/include/circ_queue.h
+47 -58
View File
@@ -1,33 +1,25 @@
/*****************************************************************************/
/**
* Description: A simple circular FIFO bounded queue
*
* Author: Fan Hao
* Date: 2023-02-23 10:29
* LastEditors: Fan Hao
* LastEditTime: 2023-02-23 12:53
* Revisions: Rev 0.0
* History:
* [2023-02-23]: Initial Version.
*
* Copyright(c) 2023 Beijing Institute of Technology.
* Lab of Communication and Networking
* NOTE: Forked from https://github.com/chrismerck/rpa_queue.git
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* The ASF licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
* @file circ_queue.h
* @author FanHao ([email protected])
* @brief A simple circular FIFO bounded queue
* @version 0.1
* @date 2023-02-23
* @note Forked from https://github.com/chrismerck/rpa_queue.git
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
******************************************************************************/
******************************************************************************/
/**
* @addtogroup Utility
* @{
*/
/**
* @defgroup CircularQueue
* @{
*/
#ifndef CIRC_QUEUE_H
#define CIRC_QUEUE_H
@@ -36,76 +28,73 @@
#include <stdint.h>
#include <stddef.h>
/**
* opaque structure
* @struct CIRC_QUEUE
* @brief Circular queue Instance
*/
typedef struct {
void **data;
volatile uint32_t nelts; /**< # elements */
uint32_t in; /**< next empty location */
uint32_t out; /**< next filled location */
uint32_t bounds;/**< max size of queue */
typedef struct
{
void **data;
volatile uint32_t nelts; ///< number of elements
uint32_t in; ///< next empty location
uint32_t out; ///< next filled location
uint32_t bounds; ///< max size of queue
} CIRC_QUEUE;
/**
* create a FIFO queue
* @brief create a FIFO queue
* @param queue The new queue
* @param queue_capacity maximum size of the queue
* @param a pool to allocate queue from
*/
bool CircQueueCreate(CIRC_QUEUE **queue, uint32_t queue_capacity);
/** free queue memory -- call after destroy
* @note we do not free in destroy() to follow pthreads convention
*/
void CircQueueFree(CIRC_QUEUE * queue);
/**
* @brief free queue memory -- call after destroy
*/
void CircQueueFree(CIRC_QUEUE *queue);
/**
* Detects when the CIRC_QUEUE is full. This utility function is expected
* @brief Detects when the CIRC_QUEUE is full. This utility function is expected
* to be called from within critical sections, and is not threadsafe.
*/
bool isCircQueueFull(CIRC_QUEUE *queue);
/**
* Detects when the CIRC_QUEUE is empty. This utility function is expected
* @brief Detects when the CIRC_QUEUE is empty. This utility function is expected
* to be called from within critical sections, and is not threadsafe.
*/
bool isCircQueueEmpty(CIRC_QUEUE *queue);
/**
* push/add an object to the queue, blocking if the queue is already full
* @brief push/add an object to the queue, blocking if the queue is already full
*
* @param queue the queue
* @param data the data
* @returns RPA_EINTR the blocking was interrupted (try again)
* @returns RPA_EOF the queue has been terminated
* @returns RPA_SUCCESS on a successful push
* @return True on a successful push
* @return False push failed
*/
bool CircQueuePush(CIRC_QUEUE *queue, void *data);
/**
* pop/get an object from the queue, blocking if the queue is already empty
* @brief pop/get an object from the queue, blocking if the queue is already empty
*
* @param queue the queue
* @param data the data
* @returns RPA_EINTR the blocking was interrupted (try again)
* @returns RPA_EOF if the queue has been terminated
* @returns RPA_SUCCESS on a successful pop
* @return false pop failed
* @return true on a successful pop
*/
bool CircQueuePop(CIRC_QUEUE *queue, void **data);
/**
* returns the size of the queue.
* @brief returns the size of the queue.
*
* @warning this is not threadsafe, and is intended for reporting/monitoring
* of the queue.
* @param queue the queue
* @returns the size of the queue
* @return the size of the queue
*/
uint32_t CircQueueSize(CIRC_QUEUE *queue);
#endif /* CIRC_QUEUE_H */
/** @} CircularQueue*/
/** @} Utility*/
df_datalink_sp/src/include/clist.h
+98 -78
View File
@@ -1,9 +1,25 @@
/*****************************************************************************/
/**
* @file clist.h
* @author FanHao ([email protected])
* @brief A basic list data structure
* @version 0.1
* @date 2023-02-23
* @note Forked from https://github.com/clibs/list
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
//
// clist.h
//
// Copyright (c) 2010 TJ Holowaychuk <[email protected]>
//
/**
* @addtogroup Utility
* @{
*/
/**
* @defgroup cList
* @{
*/
#ifndef __CLIST_H__
#define __CLIST_H__
@@ -16,103 +32,107 @@ extern "C"
#include <stdlib.h>
#include <stdint.h>
/*
* clist_t iterator direction.
*/
/**
* @enum clist_direction_t
* @brief clist_t iterator direction.
*/
typedef enum
{
LIST_HEAD,
LIST_TAIL
} clist_direction_t;
typedef enum
{
LIST_HEAD,
LIST_TAIL
} clist_direction_t;
/**
* @struct clist_node_t
* @brief clist_t node struct.
*/
typedef struct clist_node
{
struct clist_node *prev; ///< previous node
struct clist_node *next; ///< next node
void *val;
} clist_node_t;
/*
* clist_t node struct.
*/
/**
* @struct clist_t
* @brief clist_t struct.
*/
typedef struct
{
clist_node_t *head; ///< first node
clist_node_t *tail; ///< last node
uint32_t len; ///< list length
void (*free)(void *val); ///< node free function handle
int8_t (*compare)(void *a, void *b); ///< node compare function handle
} clist_t;
typedef struct clist_node
{
struct clist_node *prev;
struct clist_node *next;
void *val;
} clist_node_t;
/**
* @struct clist_iterator_t
* @brief clist_t iterator struct.
*/
typedef struct
{
clist_node_t *next; ///< next element
clist_direction_t direction; ///< iter direction
} clist_iterator_t;
/*
* clist_t struct.
*/
// Node prototypes.
typedef struct
{
clist_node_t *head;
clist_node_t *tail;
uint32_t len;
void (*free)(void *val);
int8_t (*compare)(void *a, void *b);
} clist_t;
clist_node_t *
clist_node_new(void *val);
/*
* clist_t iterator struct.
*/
// clist_t prototypes.
typedef struct
{
clist_node_t *next;
clist_direction_t direction;
} clist_iterator_t;
clist_t *
clist_new(void);
// Node prototypes.
clist_node_t *
clist_rpush(clist_t *self, clist_node_t *node);
clist_node_t *
clist_node_new(void *val);
clist_node_t *
clist_lpush(clist_t *self, clist_node_t *node);
// clist_t prototypes.
clist_node_t *
clist_find(clist_t *self, void *val);
clist_t *
clist_new(void);
clist_node_t *
clist_at(clist_t *self, int index);
clist_node_t *
clist_rpush(clist_t *self, clist_node_t *node);
clist_node_t *
clist_rpop(clist_t *self);
clist_node_t *
clist_lpush(clist_t *self, clist_node_t *node);
clist_node_t *
clist_lpop(clist_t *self);
clist_node_t *
clist_find(clist_t *self, void *val);
void
clist_remove(clist_t *self, clist_node_t *node);
clist_node_t *
clist_at(clist_t *self, int index);
void
clist_clear(clist_t *self);
clist_node_t *
clist_rpop(clist_t *self);
void
clist_destroy(clist_t *self);
clist_node_t *
clist_lpop(clist_t *self);
// clist_t iterator prototypes.
void
clist_remove(clist_t *self, clist_node_t *node);
clist_iterator_t *
clist_iterator_new(clist_t *list, clist_direction_t direction);
void
clist_clear(clist_t *self);
clist_iterator_t *
clist_iterator_new_from_node(clist_node_t *node, clist_direction_t direction);
void
clist_destroy(clist_t *self);
clist_node_t *
clist_iterator_next(clist_iterator_t *self);
// clist_t iterator prototypes.
clist_iterator_t *
clist_iterator_new(clist_t *list, clist_direction_t direction);
clist_iterator_t *
clist_iterator_new_from_node(clist_node_t *node, clist_direction_t direction);
clist_node_t *
clist_iterator_next(clist_iterator_t *self);
void
clist_iterator_destroy(clist_iterator_t *self);
void
clist_iterator_destroy(clist_iterator_t *self);
#ifdef __cplusplus
}
#endif
#endif /* __CLIBS_LIST_H__ */
/** @} cList*/
/** @} Utility*/
df_datalink_sp/src/include/common.h
+16 -15
View File
@@ -1,20 +1,19 @@
/*****************************************************************************/
/**
* Description: Common definitions
*
* Date: 2023-12-21 16:32
* LastEditors: Fan Hao
* LastEditTime: 2022-07-16 17:13
* Revisions: Rev 0.1
* History:
* [2023-12-21]: Ensure the code conform ISO C11 standard.
* [2022-07-16]: New branch for Dijian.
* [2021-11-16]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @file common.h
* @author FanHao ([email protected])
* @brief Common macros
* @version 0.0
* @date 2022-07-16
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @defgroup COMMON_MACRO
* @{
*/
/***************************** Include Files *********************************/
#ifndef __COMMON_H_
#define __COMMON_H_
@@ -47,8 +46,8 @@
#endif
#if _DEBUG_LEVEL >= 1
#define DBG_ERROR(...) __PRINT_BLOCK( \
printf("in "__FILE__ \
":%d [error]\t", \
printf("in "__FILE__ \
":%d [error]\t", \
__LINE__); \
printf(__VA_ARGS__);)
#endif
@@ -90,3 +89,5 @@
/************************** Function Prototypes ******************************/
void AppAssert(const char *file, int line);
#endif /* __COMMON_H_ */
/** @} */
df_datalink_sp/src/include/error.h
+22 -13
View File
@@ -1,19 +1,19 @@
/*****************************************************************************/
/**
* Description: Error code definitions.
* @file common.h
* @author FanHao ([email protected])
* @brief Common error numbers
* @version 0.0
* @date 2022-06-18
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
* Author: Fan Hao
* Date: 2022-06-18 16:37
* LastEditors: Fan Hao
* LastEditTime: 2022-06-18 17:12
* Revisions: Rev 0.0
* History:
* [2022-06-18]: Initial version.
*
* Copyright(c) 2022 Beijing Institute of Technology.
* Lab of Communication and Networking
*
******************************************************************************/
******************************************************************************/
/**
* @addtogroup COMMON_MACRO
* @{
*/
#ifndef SRC_ERROR_H_
#define SRC_ERROR_H_
@@ -24,6 +24,11 @@
/********************** Macros and Constants Definitions **********************/
/******************************************************************************/
/**
* @name ERRORNO
* @{
*/
#ifdef SUCCESS
#undef SUCCESS
#endif
@@ -45,3 +50,7 @@
#define IS_ERR_VALUE(x) ((x) != SUCCESS)
#endif // ERROR_H_
/** @} ERRORNO*/
/** @} COMMON_MACRO*/
df_datalink_sp/src/include/util.h
+18 -36
View File
@@ -1,41 +1,21 @@
/*******************************************************************************
* @file util.h
* @brief Implementation of utility functions.
* @author DBogdan (dragos.bogdan@analog.com)
********************************************************************************
* Copyright 2018(c) Analog Devices, Inc.
/*****************************************************************************/
/**
* @file util.h
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief Utility functions header file
* @version 0.0
* @date 2023-05-06
*
* All rights reserved.
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* - Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* - Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* - Neither the name of Analog Devices, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
* - The use of this software may or may not infringe the patent rights
* of one or more patent holders. This license does not release you
* from the requirement that you obtain separate licenses from these
* patent holders to use this software.
* - Use of the software either in source or binary form, must be run
* on or directly connected to an Analog Devices Inc. component.
*
* THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES "AS IS" AND ANY EXPRESS OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, NON-INFRINGEMENT,
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL ANALOG DEVICES BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, INTELLECTUAL PROPERTY RIGHTS, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*******************************************************************************/
******************************************************************************/
/**
* @defgroup Utility
* @{
*/
#ifndef __UTIL_H_
#define __UTIL_H_
@@ -193,3 +173,5 @@ bool crc16_check(uint8_t *buffPtr, uint32_t dataLen, uint32_t crcOffset, uint16_
int crc8_gen(uint8_t *buffPtr, uint32_t dataLen, uint16_t poly, uint8_t *crcVal);
bool crc8_check(uint8_t *buffPtr, uint32_t dataLen, uint32_t crcOffset, uint16_t poly);
#endif // __UTIL_H_
/** @} */
df_datalink_sp/src/lscript.ld
+3 -3
View File
@@ -23,9 +23,9 @@ _UNDEF_STACK_SIZE = DEFINED(_UNDEF_STACK_SIZE) ? _UNDEF_STACK_SIZE : 1024;
MEMORY
{
phy_data_interface_rx_frame_bram_ctrl_Mem0 : ORIGIN = 0x40000000, LENGTH = 0x2000
phy_data_interface_tx_frame_bram_ctrl_Mem0 : ORIGIN = 0x40002000, LENGTH = 0x2000
phy_data_interface_ant_info_bram_ctrl_Mem0 : ORIGIN = 0x40004000, LENGTH = 0x2000
phy_data_interface_rx_frame_bram_ctrl_Mem0 : ORIGIN = 0x40000000, LENGTH = 0x1000
phy_data_interface_tx_frame_bram_ctrl_Mem0 : ORIGIN = 0x40002000, LENGTH = 0x1000
phy_data_interface_ant_config_bram_ctrl_Mem0 : ORIGIN = 0x40004000, LENGTH = 0x2000
phy_data_interface_ant_beam_bram_ctrl_Mem0 : ORIGIN = 0x42000000, LENGTH = 0x1000
ps7_ddr_0 : ORIGIN = 0x100000, LENGTH = 0x1FF00000
ps7_qspi_linear_0 : ORIGIN = 0xFC000000, LENGTH = 0x1000000
df_datalink_sp/src/main.c
+8 -5
View File
@@ -10,7 +10,7 @@
* History:
* [2023-05-07]: Initial edition.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Copyright(c) 2024 Beijing Institute of Technology.
*
******************************************************************************/
@@ -75,7 +75,6 @@ L2_CONFIG linkConfig = {
.clustId = 1,
.myId = 1,
.headId = 1,
.bkpHeadId = 0,
.netScale = 2,
.phyInstPtr = NULL, // physical layer reference
.tmcInstPtr = NULL
@@ -86,14 +85,13 @@ L2_CONFIG linkConfig = {
// .clustId = 1,
// .myId = 2,
// .headId = 1,
// .bkpHeadId = 0,
// .netScale = 2,
// .phyInstPtr = NULL, // physical layer reference
// .tmcInstPtr = NULL
// };
static PHY_CONFIG phyConfig = {
.devId = 0,
.devId = PHY_DEVICE_ID,
.baseAddr = PHY_BASEADDR,
.antBramId = PHY_ANTCONFIG_BRAM_DEVICE_ID,
.antInfoBramId = PHY_ANTINFO_BRAM_DEVICE_ID,
@@ -360,6 +358,11 @@ void ScuTimer_IntrHandler(void *context)
{
// Refresh log
Phy_RefreshHwSate(phyInstPtr);
if (TimeCtrl_GetIntCnt(tmcInstPtr) - phyInstPtr->lastLogTime >= PHY_LOG_EXPIRE)
{
Phy_UpdateLogging(phyInstPtr);
}
XScuTimer_ClearInterruptStatus((XScuTimer *)xdesc->instance);
}
else
@@ -420,7 +423,7 @@ int main(void)
}
/* Physical Layer Initialize */
Status = Phy_InstInit(&phyInstPtr, &phyConfig);
Status = Phy_Init(&phyInstPtr, &phyConfig);
if (Status == SUCCESS)
{
DBG_PRINT("Physical layer Init SUCCESS! \n");
df_datalink_sp/src/networking/link_layer/framing.c
+20 -10
View File
@@ -1,19 +1,25 @@
/*****************************************************************************/
/**
* Description: Functions for framing operations.
* @file framing.h
* @author FanHao ([email protected])
* @brief DF Linklayer framing functions.
* @version 0.0
* @date 2023-05-06
*
* Date: 2022-07-16 14:17
* LastEditors: Fan Hao
* LastEditTime: 2022-07-16 17:11
* Revisions: Rev 0.0
* History:
* [2022-07-16]: Description of modification.
*
* Copyright(c) 2022 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayer_Framing
* @{
*/
/***************************** Include Files *********************************/
#include <stdint.h>
#include <string.h>
@@ -177,3 +183,7 @@ bool L2_CrcCheck(uint8_t *dataBuff, uint32_t dataLen, L2_CRC_TYPE crcType)
return false;
}
}
/** @} LinkLayer_Framing*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/geometry/coord.c
+125 -99
View File
@@ -1,8 +1,28 @@
//
// Copyright (C) 2020 OpenSim Ltd.
//
// SPDX-License-Identifier: LGPL-3.0-or-later
//
/*****************************************************************************/
/**
* @file coord.c
* @author FanHao ([email protected])
* @version 0.0
* @date 2023-05-06
*
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayerGeometry
* @{
*/
/**
* @addtogroup LinkLayerGeometry_Coord
* @{
*/
#include <math.h>
#include "coord.h"
@@ -17,132 +37,132 @@ const COORD COORD_Z_AXIS = {0.0, 0.0, 1.0};
/** @brief Subtracts two coordinate vectors. */
COORD Coord_Sub(COORD a, COORD b)
{
COORD ret;
ret.x = a.x - b.x;
ret.y = a.y - b.y;
ret.z = a.z - b.z;
return ret;
COORD ret;
ret.x = a.x - b.x;
ret.y = a.y - b.y;
ret.z = a.z - b.z;
return ret;
}
/** @brief Adds two coordinate vectors. */
COORD Coord_Add(COORD a, COORD b)
{
COORD ret;
ret.x = a.x + b.x;
ret.y = a.y + b.y;
ret.z = a.z + b.z;
return ret;
COORD ret;
ret.x = a.x + b.x;
ret.y = a.y + b.y;
ret.z = a.z + b.z;
return ret;
}
/** @brief Multiplies a coordinate vector by a real number. */
void Coord_ScalarMult(COORD *a, double t)
{
a->x *= t;
a->y *= t;
a->z *= t;
a->x *= t;
a->y *= t;
a->z *= t;
}
/** @brief Multiplies a coordinate vector by a real number. */
COORD Coord_GetScalarMult(COORD a, double t)
{
COORD ret;
ret.x = a.x * t;
ret.y = a.y * t;
ret.z = a.z * t;
return ret;
COORD ret;
ret.x = a.x * t;
ret.y = a.y * t;
ret.z = a.z * t;
return ret;
}
/** @brief Divides a coordinate vector by a real number. */
void Coord_ScalarDiv(COORD *a, double t)
{
a->x /= t;
a->y /= t;
a->z /= t;
a->x /= t;
a->y /= t;
a->z /= t;
}
/** @brief Divides a coordinate vector by a real number. */
COORD Coord_GetScalarDiv(COORD a, double t)
{
COORD ret;
ret.x = a.x / t;
ret.y = a.y / t;
ret.z = a.z / t;
return ret;
COORD ret;
ret.x = a.x / t;
ret.y = a.y / t;
ret.z = a.z / t;
return ret;
}
/** @brief Dot product. */
inline double Coord_Dot(COORD a, COORD b)
{
return (a.x * b.x + a.y * b.y + a.z * b.z);
return (a.x * b.x + a.y * b.y + a.z * b.z);
}
/** @brief Cross product. */
COORD Coord_Cross(COORD a, COORD b)
{
COORD ret;
ret.x = a.y * b.z - a.z * b.y;
ret.y = a.z * b.x - a.x * b.z;
ret.z = a.x * b.y - a.y * b.x;
return ret;
COORD ret;
ret.x = a.y * b.z - a.z * b.y;
ret.y = a.z * b.x - a.x * b.z;
ret.z = a.x * b.y - a.y * b.x;
return ret;
}
/** @brief Multiplies two coordinate vector in elementwise. */
COORD Coord_ElementwiseMult(COORD a, COORD b)
{
COORD ret;
ret.x = a.x * b.x;
ret.y = a.y * b.y;
ret.z = a.z * b.z;
return ret;
COORD ret;
ret.x = a.x * b.x;
ret.y = a.y * b.y;
ret.z = a.z * b.z;
return ret;
}
/** @brief Divides two coordinate vector in elementwise. */
COORD Coord_ElementwiseDiv(COORD a, COORD b)
{
COORD ret;
ret.x = a.x / b.x;
ret.y = a.y / b.y;
ret.z = a.z / b.z;
return ret;
COORD ret;
ret.x = a.x / b.x;
ret.y = a.y / b.y;
ret.z = a.z / b.z;
return ret;
}
/** @brief Calculate a coordinate vector length^2 (omits calling square root). */
double Coord_SquareLength(COORD a)
{
return (a.x * a.x + a.y * a.y + a.z * a.z);
return (a.x * a.x + a.y * a.y + a.z * a.z);
}
/** @brief Calculate a coordinate vector length. */
double Coord_Length(COORD a)
{
return sqrt(Coord_SquareLength(a));
return sqrt(Coord_SquareLength(a));
}
/** @brief Calculate two coordinates' distance. */
double Coord_Distance(COORD a, COORD b)
{
return Coord_Length(Coord_Sub(a, b));
return Coord_Length(Coord_Sub(a, b));
}
/** @brief Normalize coordinate vector. */
void Coord_Normalize(COORD *a)
{
Coord_ScalarDiv(a, Coord_Length(*a));
Coord_ScalarDiv(a, Coord_Length(*a));
}
/** @brief Normalize coordinate vector. */
COORD Coord_GetNormalized(COORD a)
{
Coord_Normalize(&a);
return a;
Coord_Normalize(&a);
return a;
}
/** @brief Returns the angle between the two vectors. */
double Coord_Angle(COORD a, COORD b)
{
Coord_Normalize(&a);
Coord_Normalize(&b);
return acos(Coord_Dot(a, b));
Coord_Normalize(&a);
Coord_Normalize(&b);
return acos(Coord_Dot(a, b));
}
// Additional Coordinates convert
@@ -150,62 +170,68 @@ double Coord_Angle(COORD a, COORD b)
/** @brief Convert coordinate from Launch coordinate system to ECEF. */
COORD Coord_Launch2Ecef(COORD o, COORD p, double A, double B, double lambda)
{
COORD ret;
double sinA, cosA, sinB, cosB, sinL, cosL;
double S11, S12, S13, S21, S22, S23, S31, S32, S33;
sinA = sin(A);
cosA = cos(A);
sinB = sin(B);
cosB = cos(B);
sinL = sin(lambda);
cosL = cos(lambda);
COORD ret;
double sinA, cosA, sinB, cosB, sinL, cosL;
double S11, S12, S13, S21, S22, S23, S31, S32, S33;
sinA = sin(A);
cosA = cos(A);
sinB = sin(B);
cosB = cos(B);
sinL = sin(lambda);
cosL = cos(lambda);
S11 = -sinA * sinL - cosA * sinB * cosL;
S12 = cosB * cosL;
S13 = -cosA * sinL + sinA * sinB * cosL;
S11 = -sinA * sinL - cosA * sinB * cosL;
S12 = cosB * cosL;
S13 = -cosA * sinL + sinA * sinB * cosL;
S21 = sinA * cosL - cosA * sinB * sinL;
S22 = cosB * sinL;
S23 = cosA * cosL + sinA * sinB * sinL;
S21 = sinA * cosL - cosA * sinB * sinL;
S22 = cosB * sinL;
S23 = cosA * cosL + sinA * sinB * sinL;
S31 = cosA * cosB;
S32 = sinB;
S33 = -sinA * cosB;
S31 = cosA * cosB;
S32 = sinB;
S33 = -sinA * cosB;
ret.x = p.x * (S11 + S21 + S31) + o.x;
ret.y = p.y * (S12 + S22 + S32) + o.y;
ret.z = p.z * (S13 + S23 + S33) + o.z;
ret.x = p.x * (S11 + S21 + S31) + o.x;
ret.y = p.y * (S12 + S22 + S32) + o.y;
ret.z = p.z * (S13 + S23 + S33) + o.z;
return ret;
return ret;
}
/** @brief Convert coordinate from launch coordinate system to Inertia coordinate system. */
COORD Coord_Launch2Inertia(COORD o, COORD p, double A, double B, double we, double t)
{
COORD ret;
double OmgX, OmgY, OmgZ, sinwet, coswet;
double M11, M12, M13, M21, M22, M23, M31, M32, M33;
OmgX = cos(A) * cos(B);
OmgY = sin(B);
OmgZ = -sin(A) * cos(B);
sinwet = sin(we * t);
coswet = cos(we * t);
COORD ret;
double OmgX, OmgY, OmgZ, sinwet, coswet;
double M11, M12, M13, M21, M22, M23, M31, M32, M33;
OmgX = cos(A) * cos(B);
OmgY = sin(B);
OmgZ = -sin(A) * cos(B);
sinwet = sin(we * t);
coswet = cos(we * t);
M11 = 1 - (1 - OmgX * OmgX) * (1 - coswet);
M12 = OmgX * OmgY * (1 - coswet) + OmgZ * sinwet;
M13 = OmgX * OmgZ * (1 - coswet) - OmgY * sinwet;
M11 = 1 - (1 - OmgX * OmgX) * (1 - coswet);
M12 = OmgX * OmgY * (1 - coswet) + OmgZ * sinwet;
M13 = OmgX * OmgZ * (1 - coswet) - OmgY * sinwet;
M21 = OmgY * OmgX * (1 - coswet) - OmgZ * sinwet;
M22 = 1 - (1 - OmgY * OmgY) * (1 - coswet);
M23 = OmgY * OmgZ * (1 - coswet) + OmgX * sinwet;
M21 = OmgY * OmgX * (1 - coswet) - OmgZ * sinwet;
M22 = 1 - (1 - OmgY * OmgY) * (1 - coswet);
M23 = OmgY * OmgZ * (1 - coswet) + OmgX * sinwet;
M31 = OmgZ * OmgX * (1 - coswet) + OmgY * sinwet;
M32 = OmgZ * OmgY * (1 - coswet) - OmgX * sinwet;
M33 = 1 - (1 - OmgZ * OmgZ) * (1 - coswet);
M31 = OmgZ * OmgX * (1 - coswet) + OmgY * sinwet;
M32 = OmgZ * OmgY * (1 - coswet) - OmgX * sinwet;
M33 = 1 - (1 - OmgZ * OmgZ) * (1 - coswet);
ret.x = p.x * (M11 + M21 + M31) + o.x;
ret.y = p.y * (M12 + M22 + M32) + o.y;
ret.z = p.z * (M13 + M23 + M33) + o.z;
ret.x = p.x * (M11 + M21 + M31) + o.x;
ret.y = p.y * (M12 + M22 + M32) + o.y;
ret.z = p.z * (M13 + M23 + M33) + o.z;
return ret;
return ret;
}
/** @} LinkLayerGeometry_Coord */
/** @} LinkLayerGeometry */
/** @} LinkLayer */
df_datalink_sp/src/networking/link_layer/geometry/coord.h
+36 -14
View File
@@ -1,25 +1,41 @@
//
// Copyright (C) 2020 OpenSim Ltd.
//
// SPDX-License-Identifier: LGPL-3.0-or-later
//
/*****************************************************************************/
/**
* @file coord.h
* @author FanHao ([email protected])
* @version 0.0
* @date 2023-05-06
*
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
#ifndef _COORD_H
#define _COORD_H
/**
* @brief Structure for storing 3D coordinates.
*
* Some comparison and basic arithmetic operators are implemented.
*
* @ingroup utils
* @addtogroup LinkLayer
* @{
*/
/**
* @defgroup LinkLayerGeometry
* @{
*/
/**
* @defgroup LinkLayerGeometry_Coord
* @{
*/
/**
* @struct COORD
* @brief Structure for storing 3D coordinates.
*/
typedef struct
{
double x;
double y;
double z;
double x;
double y;
double z;
} COORD;
extern const COORD COORD_NIL;
@@ -78,3 +94,9 @@ COORD Coord_GetNormalized(COORD a);
double Coord_Angle(COORD a, COORD b);
#endif
/** @} LinkLayerGeometry_Coord */
/** @} LinkLayerGeometry */
/** @} LinkLayer */
df_datalink_sp/src/networking/link_layer/geometry/eulerangles.c
+52 -25
View File
@@ -1,8 +1,29 @@
//
// Copyright (C) 2020 OpenSim Ltd.
//
// SPDX-License-Identifier: LGPL-3.0-or-later
//
/*****************************************************************************/
/**
* @file eulerangles.c
* @author FanHao ([email protected])
* @version 0.0
* @date 2023-05-06
*
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayerGeometry
* @{
*/
/**
* @addtogroup LinkLayerGeometry_EulerAngles
* @{
*/
#include <math.h>
#include "eulerangles.h"
@@ -13,49 +34,55 @@ const EULERANGLES EULERANGLES_ZERO = {0.0, 0.0, 0.0};
/** @brief Add two EulerAngles. */
EULERANGLES EulerAngles_Add(EULERANGLES e1, EULERANGLES e2)
{
EULERANGLES ret;
ret.alpha = e1.alpha + e2.alpha;
ret.beta = e1.beta + e2.beta;
ret.gamma = e1.gamma + e2.gamma;
return ret;
EULERANGLES ret;
ret.alpha = e1.alpha + e2.alpha;
ret.beta = e1.beta + e2.beta;
ret.gamma = e1.gamma + e2.gamma;
return ret;
}
/** @brief Subtracts two EulerAngles. */
EULERANGLES EulerAngles_Sub(EULERANGLES e1, EULERANGLES e2)
{
EULERANGLES ret;
ret.alpha = e1.alpha - e2.alpha;
ret.beta = e1.beta - e2.beta;
ret.gamma = e1.gamma - e2.gamma;
return ret;
EULERANGLES ret;
ret.alpha = e1.alpha - e2.alpha;
ret.beta = e1.beta - e2.beta;
ret.gamma = e1.gamma - e2.gamma;
return ret;
}
/** @brief Multiplies EulerAngles by a real number. */
void EulerAngles_ScalarMult(EULERANGLES *e, double f)
{
e->alpha *= f;
e->beta *= f;
e->gamma *= f;
e->alpha *= f;
e->beta *= f;
e->gamma *= f;
}
/** @brief Multiplies EulerAngles by a real number. */
EULERANGLES EulerAngles_GetScalarMult(EULERANGLES e, double f)
{
EulerAngles_ScalarMult(&e, f);
return e;
EulerAngles_ScalarMult(&e, f);
return e;
}
/** @brief Normalize EulerAngles. */
void EulerAngles_Normalize(EULERANGLES *e)
{
e->alpha = fmod(e->alpha, 2 * EUL_PI);
e->beta = fmod(e->beta, 2 * EUL_PI);
e->gamma = fmod(e->gamma, 2 * EUL_PI);
e->alpha = fmod(e->alpha, 2 * EUL_PI);
e->beta = fmod(e->beta, 2 * EUL_PI);
e->gamma = fmod(e->gamma, 2 * EUL_PI);
}
/** @brief Normalize EulerAngles. */
EULERANGLES EulerAngles_GetNormalize(EULERANGLES e)
{
EulerAngles_Normalize(&e);
return e;
EulerAngles_Normalize(&e);
return e;
}
/** @} LinkLayerGeometry_EulerAngles */
/** @} LinkLayerGeometry */
/** @} LinkLayer */
df_datalink_sp/src/networking/link_layer/geometry/eulerangles.h
+38
View File
@@ -1,3 +1,30 @@
/*****************************************************************************/
/**
* @file eulerangles.h
* @author FanHao ([email protected])
* @version 0.0
* @date 2023-05-06
*
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayerGeometry
* @{
*/
/**
* @defgroup LinkLayerGeometry_EulerAngles
* @{
*/
#ifndef __EULERANGLES_H
#define __EULERANGLES_H
@@ -16,6 +43,11 @@
* rotation along the Y axis rotates Z into X (leans forward), positive rotation
* along the X axis rotates Y into Z (leans right).
*/
/**
* @struct EULERANGLES
* @brief Structure for standard quaternion
*/
typedef struct
{
double alpha; // unit rad
@@ -53,3 +85,9 @@ void EulerAngles_Normalize(EULERANGLES *e);
EULERANGLES EulerAngles_GetNormalize(EULERANGLES e);
#endif
/** @} LinkLayerGeometry_EulerAngles */
/** @} LinkLayerGeometry */
/** @} LinkLayer */
df_datalink_sp/src/networking/link_layer/geometry/quaternion.c
+310 -282
View File
@@ -1,8 +1,29 @@
//
// Copyright (C) 2014 OpenSim Ltd.
//
// SPDX-License-Identifier: LGPL-3.0-or-later
//
/*****************************************************************************/
/**
* @file quaternion.c
* @author FanHao ([email protected])
* @version 0.0
* @date 2023-05-06
*
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayerGeometry
* @{
*/
/**
* @addtogroup LinkLayerGeometry_Quaternion
* @{
*/
#include <math.h>
#include <stdint.h>
@@ -13,14 +34,14 @@
typedef union
{
float value;
uint32_t raw;
float value;
uint32_t raw;
} SOFT_FLOAT;
typedef union
{
double value;
uint64_t raw;
double value;
uint64_t raw;
} SOFT_DOUBLE;
const SOFT_FLOAT EPS_FLOAT = {.raw = 0x34000000};
@@ -28,425 +49,432 @@ const SOFT_DOUBLE EPS_DOUBLE = {.raw = 0x3CB0000000000000};
const QUATERNION QUATERNION_IDENTITY = {1.0, 0.0, 0.0, 0.0};
const QUATERNION QUATERNION_NIL = {NAN, NAN, NAN, NAN};
/** @brief Subtracts two quaternions. */
QUATERNION Quaternion_Sub(QUATERNION q1, QUATERNION q2)
{
QUATERNION ret;
ret.s = q1.s - q2.s;
ret.i = q1.i - q2.i;
ret.j = q1.j - q2.j;
ret.k = q1.k - q2.k;
return ret;
QUATERNION ret;
ret.s = q1.s - q2.s;
ret.i = q1.i - q2.i;
ret.j = q1.j - q2.j;
ret.k = q1.k - q2.k;
return ret;
}
/** @brief Adds two quaternions. */
QUATERNION Quaternion_Add(QUATERNION q1, QUATERNION q2)
{
QUATERNION ret;
ret.s = q1.s + q2.s;
ret.i = q1.i + q2.i;
ret.j = q1.j + q2.j;
ret.k = q1.k + q2.k;
return ret;
QUATERNION ret;
ret.s = q1.s + q2.s;
ret.i = q1.i + q2.i;
ret.j = q1.j + q2.j;
ret.k = q1.k + q2.k;
return ret;
}
/** @brief Multiplies a quaternion by a real number. */
void Quaternion_ScalarMult(QUATERNION *q, double t)
{
q->s *= t;
q->i *= t;
q->j *= t;
q->k *= t;
q->s *= t;
q->i *= t;
q->j *= t;
q->k *= t;
}
/** @brief Multiplies a quaternion by a real number. */
QUATERNION Quaternion_GetScalarMult(QUATERNION a, double t)
{
Quaternion_ScalarMult(&a, t);
return a;
Quaternion_ScalarMult(&a, t);
return a;
}
/** @brief Divides a quaternion by a real number. */
void Quaternion_ScalarDiv(QUATERNION *q, double t)
{
q->s /= t;
q->i /= t;
q->j /= t;
q->k /= t;
q->s /= t;
q->i /= t;
q->j /= t;
q->k /= t;
}
/** @brief Divides a quaternion by a real number. */
QUATERNION Quaternion_GetScalarDiv(QUATERNION q, double t)
{
Quaternion_ScalarDiv(&q, t);
return q;
Quaternion_ScalarDiv(&q, t);
return q;
}
/** @brief Multiplies two quaternions. */
QUATERNION Quaternion_Mult(QUATERNION q1, QUATERNION q2)
{
QUATERNION ret;
ret.s = q1.s * q2.s - (q1.i * q2.i + q1.j * q2.j + q1.k * q2.k);
ret.i = q1.j * q2.k - q1.k * q2.j + q1.s * q2.i + q1.i * q2.s;
ret.j = q1.k * q2.i - q1.i * q2.k + q1.s * q2.j + q1.j * q2.s;
ret.k = q1.i * q2.j - q1.j * q2.i + q1.s * q2.k + q1.k * q2.s;
return ret;
QUATERNION ret;
ret.s = q1.s * q2.s - (q1.i * q2.i + q1.j * q2.j + q1.k * q2.k);
ret.i = q1.j * q2.k - q1.k * q2.j + q1.s * q2.i + q1.i * q2.s;
ret.j = q1.k * q2.i - q1.i * q2.k + q1.s * q2.j + q1.j * q2.s;
ret.k = q1.i * q2.j - q1.j * q2.i + q1.s * q2.k + q1.k * q2.s;
return ret;
}
/** @brief Divides two quaternions. */
QUATERNION Quaternion_Div(QUATERNION q1, QUATERNION q2)
{
Quaternion_Inverse(&q2);
return Quaternion_Mult(q1, q2);
Quaternion_Inverse(&q2);
return Quaternion_Mult(q1, q2);
}
/** @brief Dot product. */
inline double Quaternion_Dot(QUATERNION q1, QUATERNION q2)
{
return (q1.s * q2.s + q1.i * q2.i + q1.j * q2.j + q1.k * q2.k);
return (q1.s * q2.s + q1.i * q2.i + q1.j * q2.j + q1.k * q2.k);
}
/** @brief Calculate a quaternion length^2 (omits calling square root). */
inline double Quaternion_SquareLength(QUATERNION q)
{
return (q.s * q.s + q.i * q.i + q.j * q.j + q.k * q.k);
return (q.s * q.s + q.i * q.i + q.j * q.j + q.k * q.k);
}
/** @brief Calculate a quaternion length. */
inline double Quaternion_Length(QUATERNION q)
{
return sqrt(Quaternion_SquareLength(q));
return sqrt(Quaternion_SquareLength(q));
}
/** @brief Normalize quaternion. */
void Quaternion_Normalize(QUATERNION *q)
{
Quaternion_ScalarDiv(q, Quaternion_Length(*q));
Quaternion_ScalarDiv(q, Quaternion_Length(*q));
}
/** @brief Normalize quaternion. */
QUATERNION Quaternion_GetNormalized(QUATERNION q)
{
Quaternion_Normalize(&q);
return q;
Quaternion_Normalize(&q);
return q;
}
/** @brief Conjugated quaternion. */
void Quaternion_Conjugated(QUATERNION *q)
{
q->i = -q->i;
q->j = -q->j;
q->k = -q->k;
q->i = -q->i;
q->j = -q->j;
q->k = -q->k;
}
/** @brief Conjugated quaternion. */
QUATERNION Quaternion_GetConjugated(QUATERNION q)
{
Quaternion_Conjugated(&q);
return q;
Quaternion_Conjugated(&q);
return q;
}
/** @brief Inverse quaternion. */
void Quaternion_Inverse(QUATERNION *q)
{
Quaternion_Conjugated(q);
Quaternion_ScalarDiv(q, Quaternion_SquareLength(*q));
Quaternion_Conjugated(q);
Quaternion_ScalarDiv(q, Quaternion_SquareLength(*q));
}
/** @brief Inverse quaternion. */
QUATERNION Quaternion_GeInverse(QUATERNION q)
{
Quaternion_Inverse(&q);
return q;
Quaternion_Inverse(&q);
return q;
}
inline double Quaternion_GetRotationAngle(QUATERNION q)
{
return (acos(q.s) * 2);
return (acos(q.s) * 2);
}
/** @brief Get axis of quaternion. */
COORD Quaternion_GetRotationAxis(QUATERNION q)
{
double sin_theta_inv;
COORD ret;
sin_theta_inv = 1.0 / sin(acos(q.s));
ret.x = q.i * sin_theta_inv;
ret.y = q.j * sin_theta_inv;
ret.z = q.k * sin_theta_inv;
return ret;
double sin_theta_inv;
COORD ret;
sin_theta_inv = 1.0 / sin(acos(q.s));
ret.x = q.i * sin_theta_inv;
ret.y = q.j * sin_theta_inv;
ret.z = q.k * sin_theta_inv;
return ret;
}
/** @brief Get the axis and rotate angle of a unit Quaternion */
void Quaternion_GetRotationAxisAndAngle(QUATERNION q, COORD *axis, double *angle)
{
double sin_theta_inv;
*angle = acos(q.s);
double sin_theta_inv;
*angle = acos(q.s);
// pre-compute to save time
sin_theta_inv = 1.0 / sin(*angle);
// pre-compute to save time
sin_theta_inv = 1.0 / sin(*angle);
// now the vector
axis->x = q.i * sin_theta_inv;
axis->y = q.j * sin_theta_inv;
axis->z = q.k * sin_theta_inv;
*angle = (*angle) * 2;
// now the vector
axis->x = q.i * sin_theta_inv;
axis->y = q.j * sin_theta_inv;
axis->z = q.k * sin_theta_inv;
*angle = (*angle) * 2;
}
/** @brief Decompose the rotation on to 2 parts. */
void Quaternion_GetSwingAndTwist(QUATERNION q, COORD axis, QUATERNION *swing, QUATERNION *twist)
{
double p;
COORD v;
v.x = q.i;
v.y = q.j;
v.z = q.k;
// return projection v1 on to v2 (parallel component)
p = Coord_Dot(v, axis);
v = Coord_GetScalarMult(axis, p);
twist->s = q.s;
twist->i = v.x;
twist->j = v.y;
twist->k = v.z;
Quaternion_Normalize(twist);
*swing = Quaternion_Mult(q, Quaternion_GetConjugated(*twist));
double p;
COORD v;
v.x = q.i;
v.y = q.j;
v.z = q.k;
// return projection v1 on to v2 (parallel component)
p = Coord_Dot(v, axis);
v = Coord_GetScalarMult(axis, p);
twist->s = q.s;
twist->i = v.x;
twist->j = v.y;
twist->k = v.z;
Quaternion_Normalize(twist);
*swing = Quaternion_Mult(q, Quaternion_GetConjugated(*twist));
}
/** @brief rotates v by this quaternion (quaternion must be unit) */
COORD Quaternion_Rotate(QUATERNION q, COORD v)
{
QUATERNION temp;
COORD ret;
temp.s = 0;
temp.i = v.x;
temp.j = v.y;
temp.k = v.z;
temp = Quaternion_Mult(q, temp);
Quaternion_Conjugated(&q);
temp = Quaternion_Mult(temp, q);
ret.x = temp.i;
ret.y = temp.j;
ret.z = temp.k;
return ret;
QUATERNION temp;
COORD ret;
temp.s = 0;
temp.i = v.x;
temp.j = v.y;
temp.k = v.z;
temp = Quaternion_Mult(q, temp);
Quaternion_Conjugated(&q);
temp = Quaternion_Mult(temp, q);
ret.x = temp.i;
ret.y = temp.j;
ret.z = temp.k;
return ret;
}
/** @brief returns the euler angles from a rotation Quaternion */
EULERANGLES Quaternion_ToEulerAngles(QUATERNION q, EULERANGLES_TYPE type)
{
EULERANGLES ret;
switch (type)
{
case EULERANGLES_ZYX:
{
/* Covert form matlab 2023a */
// Cap all inputs to asin to 1, since values >1 produce complex
// results
// Since the quaternion is of unit length, this should never happen,
// but some code generation configuration seem to hit this edge case
// under some circumstances.
EULERANGLES ret;
switch (type)
{
case EULERANGLES_ZYX:
{
/* Covert form matlab 2023a */
// Cap all inputs to asin to 1, since values >1 produce complex
// results
// Since the quaternion is of unit length, this should never happen,
// but some code generation configuration seem to hit this edge case
// under some circumstances.
double asinValue;
bool mask1, mask2;
double asinValue;
bool mask1, mask2;
asinValue = -2.0 * (q.i * q.k - q.s * q.j);
mask1 = asinValue >= 1.0 - 10 * EPS_DOUBLE.value;
mask2 = asinValue <= -1.0 + 10 * EPS_DOUBLE.value;
if (mask1)
asinValue = 1;
if (mask2)
asinValue = -1;
asinValue = -2.0 * (q.i * q.k - q.s * q.j);
mask1 = asinValue >= 1.0 - 10 * EPS_DOUBLE.value;
mask2 = asinValue <= -1.0 + 10 * EPS_DOUBLE.value;
if (mask1)
asinValue = 1;
if (mask2)
asinValue = -1;
if (mask1 || mask2)
{
ret.alpha = (asinValue > 0) ? (-2.0 * atan2(q.i, q.s)) : (2.0 * atan2(q.i, q.s));
ret.gamma = 0;
}
else
{
ret.alpha = atan2(2.0 * (q.i * q.j + q.s * q.k), q.s * q.s + q.i * q.i - q.j * q.j - q.k * q.k);
ret.gamma = atan2(2.0 * (q.j * q.k + q.s * q.i), q.s * q.s - q.i * q.i - q.j * q.j + q.k * q.k);
}
ret.beta = asin(asinValue);
break;
}
if (mask1 || mask2)
{
ret.alpha = (asinValue > 0) ? (-2.0 * atan2(q.i, q.s)) : (2.0 * atan2(q.i, q.s));
ret.gamma = 0;
}
else
{
ret.alpha = atan2(2.0 * (q.i * q.j + q.s * q.k), q.s * q.s + q.i * q.i - q.j * q.j - q.k * q.k);
ret.gamma = atan2(2.0 * (q.j * q.k + q.s * q.i), q.s * q.s - q.i * q.i - q.j * q.j + q.k * q.k);
}
ret.beta = asin(asinValue);
break;
}
case EULERANGLES_ZYZ:
{
// TODO;
ret = EULERANGLES_NIL;
break;
}
case EULERANGLES_ZYZ:
{
// TODO;
ret = EULERANGLES_NIL;
break;
}
case EULERANGLES_XYZ:
{
/* Covert form matlab 2023a */
// Prevent singularities as done in ZYX case
// Alternative to rotm2eul(quat2rotm(q), 'XYZ') with fewer
// operations
// sin(y) = R13 = 2 * (qx*qz + qy*qw)
// tan(x) = sin(x) / cos(x) = -R23 / R33
// = -2 * (qy*qz - qx*qw) / (1 - 2*(qx^2 + qy^2))
// = -2 * (qy*qz - qx*qw) / (qw^2 - qx^2 - qy^2 + qz^2)
// tan(z) = sin(z) / cos(z) = -R12 / R11
// = -2 * (qx*qy - qz*qw) / (1 - 2*(qy^2 + qz^2))
// = -2 * (qy*qz - qx*qw) / (qw^2 + qx^2 - qy^2 - qz^2)
case EULERANGLES_XYZ:
{
/* Covert form matlab 2023a */
// Prevent singularities as done in ZYX case
// Alternative to rotm2eul(quat2rotm(q), 'XYZ') with fewer
// operations
// sin(y) = R13 = 2 * (qx*qz + qy*qw)
// tan(x) = sin(x) / cos(x) = -R23 / R33
// = -2 * (qy*qz - qx*qw) / (1 - 2*(qx^2 + qy^2))
// = -2 * (qy*qz - qx*qw) / (qw^2 - qx^2 - qy^2 + qz^2)
// tan(z) = sin(z) / cos(z) = -R12 / R11
// = -2 * (qx*qy - qz*qw) / (1 - 2*(qy^2 + qz^2))
// = -2 * (qy*qz - qx*qw) / (qw^2 + qx^2 - qy^2 - qz^2)
double asinValue;
bool mask1, mask2;
double asinValue;
bool mask1, mask2;
asinValue = 2.0 * (q.i * q.k + q.s * q.j);
mask1 = asinValue >= 1.0 - 10 * EPS_DOUBLE.value;
mask2 = asinValue <= -1.0 + 10 * EPS_DOUBLE.value;
if (mask1)
asinValue = 1;
if (mask2)
asinValue = -1;
if (mask1 || mask2)
{
ret.alpha = 0;
ret.gamma = (asinValue > 0) ? (2.0 * atan2(q.i, q.s)) : (-2.0 * atan2(q.i, q.s));
}
else
{
ret.alpha = atan2(-2.0 * (q.j * q.k - q.s * q.i), q.s * q.s - q.i * q.i - q.j * q.j + q.k * q.k);
ret.gamma = atan2(-2.0 * (q.i * q.j - q.s * q.k), q.s * q.s + q.i * q.i - q.j * q.j - q.k * q.k);
}
ret.beta = asin(asinValue);
break;
}
asinValue = 2.0 * (q.i * q.k + q.s * q.j);
mask1 = asinValue >= 1.0 - 10 * EPS_DOUBLE.value;
mask2 = asinValue <= -1.0 + 10 * EPS_DOUBLE.value;
if (mask1)
asinValue = 1;
if (mask2)
asinValue = -1;
if (mask1 || mask2)
{
ret.alpha = 0;
ret.gamma = (asinValue > 0) ? (2.0 * atan2(q.i, q.s)) : (-2.0 * atan2(q.i, q.s));
}
else
{
ret.alpha = atan2(-2.0 * (q.j * q.k - q.s * q.i), q.s * q.s - q.i * q.i - q.j * q.j + q.k * q.k);
ret.gamma = atan2(-2.0 * (q.i * q.j - q.s * q.k), q.s * q.s + q.i * q.i - q.j * q.j - q.k * q.k);
}
ret.beta = asin(asinValue);
break;
}
default:
ret = EULERANGLES_NIL;
}
return ret;
default:
ret = EULERANGLES_NIL;
}
return ret;
}
/** @brief returns the rotation Quaternion from a euler angles */
QUATERNION Quaternion_FromeEulerAngles(EULERANGLES e, EULERANGLES_TYPE type)
{
QUATERNION ret;
double cosx, sinx, cosy, siny, cosz, sinz;
cosx = cos(e.alpha * 0.5);
sinx = sin(e.alpha * 0.5);
cosy = cos(e.beta * 0.5);
siny = sin(e.beta * 0.5);
cosz = cos(e.gamma * 0.5);
sinz = sin(e.gamma * 0.5);
switch (type)
{
case EULERANGLES_ZYX:
ret.s = cosx * cosy * cosz + sinx * siny * sinz;
ret.i = cosx * cosy * sinz - sinx * siny * cosz;
ret.j = cosx * siny * cosz + sinx * cosy * sinz;
ret.k = sinx * cosy * cosz - cosx * siny * sinz;
break;
case EULERANGLES_ZYZ:
ret.s = cosx * cosy * cosz - sinx * cosy * sinz;
ret.i = cosx * siny * sinz - sinx * siny * cosz;
ret.j = cosx * siny * cosz + sinx * siny * sinz;
ret.k = sinx * cosy * cosz + cosx * cosy * sinz;
break;
case EULERANGLES_XYZ:
ret.s = cosx * cosy * cosz - sinx * siny * sinz;
ret.i = sinx * cosy * cosz + cosx * siny * sinz;
ret.j = -sinx * cosy * sinz + cosx * siny * cosz;
ret.k = cosx * cosy * sinz + sinx * siny * cosz;
break;
default:
ret = QUATERNION_NIL;
break;
}
return ret;
QUATERNION ret;
double cosx, sinx, cosy, siny, cosz, sinz;
cosx = cos(e.alpha * 0.5);
sinx = sin(e.alpha * 0.5);
cosy = cos(e.beta * 0.5);
siny = sin(e.beta * 0.5);
cosz = cos(e.gamma * 0.5);
sinz = sin(e.gamma * 0.5);
switch (type)
{
case EULERANGLES_ZYX:
ret.s = cosx * cosy * cosz + sinx * siny * sinz;
ret.i = cosx * cosy * sinz - sinx * siny * cosz;
ret.j = cosx * siny * cosz + sinx * cosy * sinz;
ret.k = sinx * cosy * cosz - cosx * siny * sinz;
break;
case EULERANGLES_ZYZ:
ret.s = cosx * cosy * cosz - sinx * cosy * sinz;
ret.i = cosx * siny * sinz - sinx * siny * cosz;
ret.j = cosx * siny * cosz + sinx * siny * sinz;
ret.k = sinx * cosy * cosz + cosx * cosy * sinz;
break;
case EULERANGLES_XYZ:
ret.s = cosx * cosy * cosz - sinx * siny * sinz;
ret.i = sinx * cosy * cosz + cosx * siny * sinz;
ret.j = -sinx * cosy * sinz + cosx * siny * cosz;
ret.k = cosx * cosy * sinz + sinx * siny * cosz;
break;
default:
ret = QUATERNION_NIL;
break;
}
return ret;
}
/** @brief adapted from https://svn.code.sf.net/p/irrlicht/code/trunk/include/quaternion.h */
QUATERNION Quaternion_RotationFromTo(COORD from, COORD to)
{
// Based on Stan Melax's article in Game Programming Gems
COORD axis;
QUATERNION ret;
double c, s;
Coord_Normalize(&from);
Coord_Normalize(&to);
// Based on Stan Melax's article in Game Programming Gems
COORD axis;
QUATERNION ret;
double c, s;
Coord_Normalize(&from);
Coord_Normalize(&to);
c = Coord_Dot(from, to);
c = Coord_Dot(from, to);
if (c >= 1.0)
{ // If dot == 1, vectors are the same
return QUATERNION_IDENTITY; // identity
}
else if (c <= -1.0)
{ // exactly opposite
axis = Coord_Cross(COORD_X_AXIS, from);
if (c >= 1.0)
{ // If dot == 1, vectors are the same
return QUATERNION_IDENTITY; // identity
}
else if (c <= -1.0)
{ // exactly opposite
axis = Coord_Cross(COORD_X_AXIS, from);
if (Coord_Length(axis) == 0)
axis = Coord_Cross(COORD_Y_AXIS, from);
if (Coord_Length(axis) == 0)
axis = Coord_Cross(COORD_Y_AXIS, from);
// same as fromAxisAngle(axis, PI).normalize();
ret.s = 0;
ret.i = axis.x;
ret.j = axis.y;
ret.k = axis.z;
Quaternion_Normalize(&ret);
return ret;
}
// same as fromAxisAngle(axis, PI).normalize();
ret.s = 0;
ret.i = axis.x;
ret.j = axis.y;
ret.k = axis.z;
Quaternion_Normalize(&ret);
return ret;
}
s = sqrt((1 + c) * 2);
axis = Coord_Cross(from, to);
Coord_ScalarDiv(&axis, s);
ret.s = s * 0.5;
ret.i = axis.x;
ret.j = axis.y;
ret.k = axis.z;
Quaternion_Normalize(&ret);
return ret;
s = sqrt((1 + c) * 2);
axis = Coord_Cross(from, to);
Coord_ScalarDiv(&axis, s);
ret.s = s * 0.5;
ret.i = axis.x;
ret.j = axis.y;
ret.k = axis.z;
Quaternion_Normalize(&ret);
return ret;
}
/** @brief linear quaternion interpolation */
QUATERNION Quaternion_Lerp(QUATERNION q1, QUATERNION q2, double t)
{
QUATERNION ret;
Quaternion_ScalarMult(&q1, 1 - t);
Quaternion_ScalarMult(&q1, t);
ret = Quaternion_Add(q1, q2);
Quaternion_Normalize(&ret);
return ret;
QUATERNION ret;
Quaternion_ScalarMult(&q1, 1 - t);
Quaternion_ScalarMult(&q1, t);
ret = Quaternion_Add(q1, q2);
Quaternion_Normalize(&ret);
return ret;
}
/** @brief spherical linear interpolation */
QUATERNION Quaternion_Slerp(QUATERNION q1, QUATERNION q2, double t)
{
double dot;
QUATERNION q3, ret;
dot = Quaternion_Dot(q1, q2);
/* dot = cos(theta)
if (dot < 0), q1 and q2 are more than 90 degrees apart,
so we can invert one to reduce spinning */
if (dot < 0)
{
dot = -dot;
q3.s = -q2.s;
q3.i = -q2.i;
q3.j = -q2.j;
q3.k = -q2.k;
}
else
{
q3 = q2;
}
double dot;
QUATERNION q3, ret;
dot = Quaternion_Dot(q1, q2);
/* dot = cos(theta)
if (dot < 0), q1 and q2 are more than 90 degrees apart,
so we can invert one to reduce spinning */
if (dot < 0)
{
dot = -dot;
q3.s = -q2.s;
q3.i = -q2.i;
q3.j = -q2.j;
q3.k = -q2.k;
}
else
{
q3 = q2;
}
if (dot < 0.95)
{
double angle = acos(dot);
Quaternion_ScalarMult(&q1, sin(angle * (1 - t)));
Quaternion_ScalarMult(&q3, sin(angle * t));
ret = Quaternion_Add(q1, q3);
Quaternion_ScalarDiv(&ret, sin(angle));
return ret;
}
// if the angle is small, use linear interpolation
else
{
return Quaternion_Lerp(q1, q3, t);
}
if (dot < 0.95)
{
double angle = acos(dot);
Quaternion_ScalarMult(&q1, sin(angle * (1 - t)));
Quaternion_ScalarMult(&q3, sin(angle * t));
ret = Quaternion_Add(q1, q3);
Quaternion_ScalarDiv(&ret, sin(angle));
return ret;
}
// if the angle is small, use linear interpolation
else
{
return Quaternion_Lerp(q1, q3, t);
}
}
/** @} LinkLayerGeometry_Quaternion */
/** @} LinkLayerGeometry */
/** @} LinkLayer */
df_datalink_sp/src/networking/link_layer/geometry/quaternion.h
+46 -11
View File
@@ -1,3 +1,29 @@
/*****************************************************************************/
/**
* @file quaternion.h
* @author FanHao ([email protected])
* @version 0.0
* @date 2023-05-06
*
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayerGeometry
* @{
*/
/**
* @defgroup LinkLayerGeometry_Quaternion
* @{
*/
#ifndef __QUATERNION_H
#define __QUATERNION_H
@@ -5,13 +31,16 @@
#include "coord.h"
#include "eulerangles.h"
// borrowed and adapted from https://github.com/MegaManSE/willperone/blob/master/Math/quaternion.h
/**
* @struct QUATERNION
* @brief Structure for standard quaternion
*/
typedef struct
{
double s;
double i;
double j;
double k;
double s;
double i;
double j;
double k;
} QUATERNION;
extern const QUATERNION QUATERNION_IDENTITY;
@@ -78,13 +107,13 @@ COORD Quaternion_GetRotationAxis(QUATERNION q);
void Quaternion_GetRotationAxisAndAngle(QUATERNION q, COORD *axis, double *angle);
/** @brief Decompose the rotation on to 2 parts.
1. Twist - rotation around the "direction" vector
2. Swing - rotation around axis that is perpendicular to "direction" vector
The rotation can be composed back by rotation = swing * twist
1. Twist - rotation around the "direction" vector
2. Swing - rotation around axis that is perpendicular to "direction" vector
The rotation can be composed back by rotation = swing * twist
has singularity in case of swing_rotation close to 180 degrees rotation.
if the input quaternion is of non-unit length, the outputs are non-unit as well
otherwise, outputs are both unit
has singularity in case of swing_rotation close to 180 degrees rotation.
if the input quaternion is of non-unit length, the outputs are non-unit as well
otherwise, outputs are both unit
*/
void Quaternion_GetSwingAndTwist(QUATERNION q, COORD axis, QUATERNION *swing, QUATERNION *twist);
@@ -107,3 +136,9 @@ QUATERNION Quaternion_Lerp(QUATERNION q1, QUATERNION q2, double t);
QUATERNION Quaternion_Slerp(QUATERNION q1, QUATERNION q2, double t);
#endif
/** @} LinkLayerGeometry_Quaternion */
/** @} LinkLayerGeometry */
/** @} LinkLayer */
df_datalink_sp/src/networking/link_layer/link_layer.c
+337 -328
View File
@@ -1,19 +1,21 @@
/*****************************************************************************/
/**
* Description: A brief description of this file
* @file link_layer.c
* @author FanHao ([email protected])
* @brief DF Linklayer implementation file.
* @version 0.1
* @date 2023-05-06
*
* Date: 2021-11-13 13:32
* LastEditTime: 2021-11-23 10:57
* Revisions: Rev 0.0
* History:
* [2021-11-23]: Initial version.
* [2022-03-28]: Add bre test mode.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/***************************** Include Files *********************************/
#include <stdlib.h>
#include <string.h>
@@ -31,7 +33,7 @@
#endif
/************************** Constant Definitions *****************************/
#define NET_START_TIME_INFTY UINT32_MAX
#define LINK_BROCK_THRESHOLD (3 * 200) // 3 secods
#define LINK_BROCK_THRESHOLD L2_SLOTS_PER_FRAME // 0.5 secods
/************************** Variable Definitions *****************************/
/***************** Macros (Inline Functions) Definitions *********************/
@@ -43,6 +45,18 @@ static void L2_SetSlotNum(L2_INST *instPtr, uint32_t newSlotNum);
static void L2_SetFrameNum(L2_INST *instPtr, uint32_t newFrameNum);
static void L2_UpdateSlotNum(L2_INST *instPtr);
static void L2_DataAvailUpdate(L2_INST *instPtr, bool status);
static void L2_FrameStateUpdate(L2_INST *instPtr);
/**
* @brief Shift L2 status record.(newval->next->curr->last)
*/
inline void L2_RcdShift(L2_RCD *rcd, int32_t netxVal)
{
ASSERT(rcd != NULL);
rcd->last = rcd->curr;
rcd->curr = rcd->next;
rcd->next = netxVal;
}
/**
* @brief helper function to update linkelayer state
@@ -102,6 +116,79 @@ static inline void L2_DataAvailUpdate(L2_INST *instPtr, bool status)
instPtr->dataAvail = status;
}
/*****************************************************************************/
/**
* @brief Update L2 frame state, check if there is any valid L2 frame data in
* data buffer, update receive frame status.
*
* @param instPtr a pointer to linklayer instance
*
* @return NONE.
*
******************************************************************************/
static void L2_FrameStateUpdate(L2_INST *instPtr)
{
ASSERT(instPtr != NULL);
PHY_INST *phyRef = instPtr->config.phyInstPtr;
bool isValid;
L2_FRAME_TYPE recvType = L2_GetLastOptFrameType(instPtr);
// Update frame state.
if (Phy_IsFrameValid(phyRef) == false)
{
L2_DataAvailUpdate(instPtr, false);
}
else
{
DBG_INFO("A frame received, checking data validation...\n");
DBG_INFO("Last frame type is: %" PRId32 ".\n", instPtr->frame.last);
Phy_RetrieveRecvData(phyRef, instPtr->recvPktData);
instPtr->log.frameRecv++;
// Update frame state.
switch (recvType)
{
case L2_SCAN_FRAME:
case L2_ADV_FRAME:
isValid = L2_CrcCheck(instPtr->recvPktData, L2_ADV_PACK_LEN, L2_CRC16_1021);
instPtr->log.advRecvCnt++;
instPtr->log.advCorrectCnt = isValid ? instPtr->log.advCorrectCnt + 1 : instPtr->log.advCorrectCnt;
break;
case L2_CFM_FRAME:
isValid = L2_CrcCheck(instPtr->recvPktData, L2_CMF_PACK_LEN, L2_CRC16_1021);
instPtr->log.cfmRecvCnt++;
instPtr->log.cfmCorrectCnt = isValid ? instPtr->log.cfmCorrectCnt + 1 : instPtr->log.cfmCorrectCnt;
break;
case L2_SVC_FRAME:
#ifndef DATALINK_ENABLE_BERTEST
isValid = L2_CrcCheck(instPtr->recvPktData, L2_SVC_PACK_LEN, L2_CRC16_1021);
#else
isValid = true;
#endif
instPtr->log.svcRecvCnt++;
instPtr->log.svcCorrectCnt = isValid ? instPtr->log.svcCorrectCnt + 1 : instPtr->log.svcCorrectCnt;
break;
default:
isValid = false;
break;
}
if (isValid)
{
instPtr->log.frameCorrect++;
L2_DataAvailUpdate(instPtr, true);
}
else
{
L2_DataAvailUpdate(instPtr, false);
}
}
}
/**
* @addtogroup LinkLayer_Utility
* @{
*/
/**
* @brief Get the current node ID.
*/
@@ -147,6 +234,15 @@ inline L2_NODE_STATE L2_GetMainState(L2_INST *instPtr)
return instPtr->mainState;
}
/**
* @brief Check if there is a valid l2 frame.
*/
inline bool L2_isStarted(L2_INST *instPtr)
{
ASSERT(instPtr != NULL);
return instPtr->isEnable;
}
/**
* @brief Check if there is a valid l2 frame.
*/
@@ -165,6 +261,14 @@ inline bool L2_isCxn2Net(L2_INST *instPtr)
return instPtr->cxn2Net;
}
/**
* @brief Get corresponding frame length in byte of L2 frame.
*/
inline uint32_t L2_GetFrameLen(L2_FRAME_TYPE l2FrameType)
{
return Phy_GetFrameLen(L2_L2frame2L1frame(l2FrameType));
}
/**
* @brief Get last frame number.
*/
@@ -272,24 +376,6 @@ inline L2_TOR_TYPE L2_GetNextTor(L2_INST *instPtr)
return instPtr->tor.next;
}
/*****************************************************************************/
/**
* @brief Shift L2 status record.(newval->next->curr->last)
*
* @param instPtr A pointer to physical layer control instance.
*
* @return NONE.
*
******************************************************************************/
inline void L2_RcdShift(L2_RCD *rcd, int32_t netxVal)
{
ASSERT(rcd != NULL);
rcd->last = rcd->curr;
rcd->curr = rcd->next;
rcd->next = netxVal;
}
// FIXME:
/*****************************************************************************/
/**
* @brief Infer last received frame type.
@@ -317,292 +403,6 @@ L2_FRAME_TYPE L2_GetLastOptFrameType(L2_INST *instPtr)
return L2_NONE_FRAME;
}
}
/*****************************************************************************/
/**
* @brief Update L2 frame state, check if there is any valid L2 frame data in
* data buffer, update receive frame status.
*
* @param instPtr a pointer to linklayer instance
*
* @return NONE.
*
******************************************************************************/
void L2_FrameStateUpdate(L2_INST *instPtr)
{
ASSERT(instPtr != NULL);
PHY_INST *phyRef = instPtr->config.phyInstPtr;
bool isValid;
L2_FRAME_TYPE recvType = L2_GetLastOptFrameType(instPtr);
// Update frame state.
if (Phy_IsFrameValid(phyRef) == false)
{
L2_DataAvailUpdate(instPtr, false);
}
else
{
DBG_INFO("A frame received, checking data validation...\n");
DBG_INFO("Last frame type is: %" PRId32 ".\n", instPtr->frame.last);
Phy_RetrieveRecvData(phyRef, instPtr->recvPktData);
instPtr->log.frameRecv++;
// Update frame state.
switch (recvType)
{
case L2_SCAN_FRAME:
case L2_ADV_FRAME:
isValid = L2_CrcCheck(instPtr->recvPktData, L2_ADV_PACK_LEN, L2_CRC16_1021);
instPtr->log.advRecvCnt++;
instPtr->log.advCorrectCnt = isValid ? instPtr->log.advCorrectCnt + 1 : instPtr->log.advCorrectCnt;
break;
case L2_CFM_FRAME:
isValid = L2_CrcCheck(instPtr->recvPktData, L2_CMF_PACK_LEN, L2_CRC16_1021);
instPtr->log.cfmRecvCnt++;
instPtr->log.cfmCorrectCnt = isValid ? instPtr->log.cfmCorrectCnt + 1 : instPtr->log.cfmCorrectCnt;
break;
case L2_SVC_FRAME:
#ifndef DATALINK_ENABLE_BERTEST
isValid = L2_CrcCheck(instPtr->recvPktData, L2_SVC_PACK_LEN, L2_CRC16_1021);
#else
isValid = true;
#endif
instPtr->log.svcRecvCnt++;
instPtr->log.svcCorrectCnt = isValid ? instPtr->log.svcCorrectCnt + 1 : instPtr->log.svcCorrectCnt;
break;
default:
isValid = false;
break;
}
if (isValid)
{
instPtr->log.frameCorrect++;
L2_DataAvailUpdate(instPtr, true);
}
else
{
L2_DataAvailUpdate(instPtr, false);
}
}
}
/*****************************************************************************/
/**
* @brief Steer antenna beam to specified node.
*
* @param instPtr a pointer to link layer descriptor instance
* @param nodeId destination node
*
* @return Corresponding frame length
* L2_FRAME_NONE_LEN if the frame type code cannot be recognized.
*
******************************************************************************/
// FIXME: To Complete.
int32_t L2_SteerBeam2Node(L2_INST *instPtr, uint8_t nodeId)
{
ASSERT(instPtr != NULL);
ASSERT(instPtr->config.phyInstPtr != NULL);
int32_t Status;
COORD myPos, dstPos, beamDir;
Status = L2_GetNodePos(instPtr->nodeList, nodeId, &dstPos);
if (Status != SUCCESS)
{
DBG_ERROR("Failed to retrieve position info of node %" PRIu8 ", remain last configuration.\n", nodeId);
return EPARAM;
}
myPos.x = instPtr->sysInfo.posX;
myPos.y = instPtr->sysInfo.posY;
myPos.z = instPtr->sysInfo.posZ;
// TODO Check data format
EULERANGLES attitudeEuler, antAttitudeEuler;
attitudeEuler.alpha = DEG2RAD(instPtr->sysInfo.pitch);
attitudeEuler.beta = DEG2RAD(instPtr->sysInfo.yaw);
attitudeEuler.gamma = DEG2RAD(instPtr->sysInfo.roll);
// FIXME: confirm date source.
antAttitudeEuler.alpha = DEG2RAD(0);
antAttitudeEuler.beta = DEG2RAD(0);
antAttitudeEuler.gamma = DEG2RAD(0);
// TODO Check data format
QUATERNION attitude, antAttitude;
attitude = Quaternion_FromeEulerAngles(attitudeEuler, EULERANGLES_XYZ);
antAttitude = Quaternion_FromeEulerAngles(antAttitudeEuler, EULERANGLES_XYZ);
// --- --- Algorithm --- ---
// TODO Check result validation
// Compute beam direction vector
beamDir = Coord_Sub(dstPos, myPos);
// Compute antenna attitude respect to ECEF
antAttitude = Quaternion_Mult(attitude, antAttitude);
// Convert beam direction vector to antenna coordinate
beamDir = Quaternion_Rotate(Quaternion_GeInverse(antAttitude), beamDir);
// Normalize
Coord_Normalize(&beamDir);
double oAxis, rAxis;
oAxis = RAD2DEG(atan2(beamDir.z, beamDir.y));
rAxis = RAD2DEG(acos(Coord_Dot(beamDir, COORD_X_AXIS)));
Status = Phy_SetBeamAngle(instPtr->config.phyInstPtr, oAxis, rAxis);
return Status;
}
/*****************************************************************************/
/**
* @brief Layer 2 setup next slot operation, update current operating frame.
*
* @param instPtr a pointer to linklayer instance
* @param txrxMode tx/rx state for next slot
* @param frameType frame type of next slot.
*
* @return Corresponding frame length
* L2_FRAME_NONE_LEN if the frame type code cannot be recognized.
*
******************************************************************************/
int32_t L2_SetupNextSlot(L2_INST *instPtr, L2_TOR_TYPE txrxMode, L2_FRAME_TYPE frameType)
{
ASSERT(instPtr != NULL);
PHY_INST *phyRef = instPtr->config.phyInstPtr;
int32_t Status;
if (frameType < L2_SCAN_FRAME || frameType > L2_SVC_FRAME)
{
return FAILURE;
}
// logging
if (txrxMode == L2_TOR_TX)
{
instPtr->log.frameTx++;
switch (frameType)
{
case L2_ADV_FRAME:
instPtr->log.advTxCnt++;
break;
case L2_CFM_FRAME:
instPtr->log.cfmTxCnt++;
break;
case L2_SVC_FRAME:
instPtr->log.svcTxCnt++;
break;
default:
break;
}
}
else if (txrxMode == L2_TOR_RX)
{
instPtr->log.frameRx++;
switch (frameType)
{
case L2_ADV_FRAME:
instPtr->log.advRxCnt++;
break;
case L2_CFM_FRAME:
instPtr->log.cfmRxCnt++;
break;
case L2_SVC_FRAME:
instPtr->log.svcRxCnt++;
break;
default:
break;
}
}
#if _DEBUG_LEVEL >= 3
char *torStr = NULL;
char *frameStr = NULL;
switch (txrxMode)
{
case L2_TOR_SUSPEND:
torStr = "SUSPEND";
break;
case L2_TOR_TX:
torStr = "TX";
break;
case L2_TOR_RX:
torStr = "RX";
break;
}
switch (frameType)
{
case L2_SCAN_FRAME:
frameStr = "Scan";
break;
case L2_ADV_FRAME:
frameStr = "Advertisement";
break;
case L2_CFM_FRAME:
frameStr = "Confirm";
break;
case L2_SVC_FRAME:
frameStr = "Service";
break;
default:
frameStr = "UNKNOWN Frame";
break;
}
DBG_INFO("# Setup Next Slot # [%" PRIu32 "-%" PRIu32 "], %s, %s.\n",
instPtr->frameNum.next,
instPtr->slotNum.next,
torStr, frameStr);
#endif
// Update frame and tx/rx mode record.
// Frame types shift (last <- curr <- next)
L2_RcdShift(&(instPtr->frame), frameType);
L2_RcdShift(&(instPtr->tor), txrxMode);
TIME_WORD pullTime = {0, 0};
pullTime.int_part = TimeCtrl_GetIntCnt(instPtr->config.tmcInstPtr) + 1;
Status = Phy_SetTimeWord(phyRef, &pullTime, PHY_TIME_WORD_POLL);
if (Status != SUCCESS)
{
DBG_ERROR("Physical set pull time failed, with error code: %" PRId32 "\n", Status);
}
PHY_TOR_TYPE tor;
switch (txrxMode)
{
case L2_TOR_SUSPEND:
tor = PHY_TOR_SUSPEND;
break;
case L2_TOR_TX:
tor = PHY_TOR_TX;
break;
case L2_TOR_RX:
tor = PHY_TOR_RX;
break;
default:
DBG_ERROR("Invalid txrx mode :%" PRId8 ".\n", txrxMode);
return EPARAM;
}
Status = Phy_SetupNextSlot(phyRef, tor, L2_L2frame2L1frame(frameType), instPtr->sendPktData);
if (Status != SUCCESS)
{
DBG_ERROR("Physical setup failed, with error code: %" PRId32 "\n", Status);
}
return Status;
}
/*****************************************************************************/
/**
* @brief Get corresponding frame length in byte of L2 frame.
*
* @param l2FrameType
*
* @return Corresponding frame length
* L2_FRAME_NONE_LEN if the frame type code cannot be recognized.
*
******************************************************************************/
uint32_t L2_GetFrameLen(L2_FRAME_TYPE l2FrameType)
{
return Phy_GetFrameLen(L2_L2frame2L1frame(l2FrameType));
}
/*****************************************************************************/
/**
* @brief Convert L2 frame type to L1 frame type
@@ -627,6 +427,12 @@ L1_FRAME_TYPE L2_L2frame2L1frame(L2_FRAME_TYPE l2Frame)
return L1_NONE_FRAME;
}
}
/** @} LinkLayer_Utility*/
/**
* @defgroup LinkLayer_Main
* @{
*/
/*****************************************************************************/
/**
@@ -783,7 +589,7 @@ int32_t Linklayer_Reconfig(L2_INST *instPtr, const L2_CONFIG *config)
instPtr->rtneConfig.last = NULL;
instPtr->rtneConfig.curr = NULL;
instPtr->rtneConfig.next = NULL;
instPtr->cxn2Net = false;
instPtr->cxn2Net = (config->myType == L2_NODE_HEAD) ? true : false;
instPtr->dataAvail = false;
instPtr->frameNum.last = 0;
instPtr->frameNum.curr = 0;
@@ -948,7 +754,7 @@ int32_t Linklayer_EventHandler(L2_INST *instPtr, const L2_EVENT *l2Event)
case L2_EV_LOST_CXN:
{
DBG_INFO("Event L2_EV_LOST_CXN asserted....\n");
if (instPtr->config.myType == L2_NODE_HEAD)
if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
{
DBG_ERROR("Illegal event, only None_Head node can assert L2_EV_LOST_CXN.\n");
break;
@@ -1171,6 +977,8 @@ int32_t Linklayer_Proc(L2_INST *instPtr)
{
ASSERT(instPtr != NULL);
int32_t Status;
PHY_INST *phyRef = instPtr->config.phyInstPtr;
TMC_INST *tmcRef = instPtr->config.tmcInstPtr;
if (instPtr->isEnable == false)
{
@@ -1179,7 +987,7 @@ int32_t Linklayer_Proc(L2_INST *instPtr)
}
// FIXME: Consider time wrapping.
uint32_t nextTimeUnit = (TimeCtrl_GetIntCnt(instPtr->config.tmcInstPtr) + 1) / L2_SLOTS_PER_FRAME;
uint32_t nextTimeUnit = (TimeCtrl_GetIntCnt(tmcRef) + 1) / L2_SLOTS_PER_FRAME;
if (nextTimeUnit < instPtr->netStartTime)
{
DBG_WARNING("Linklayer not start yet, next time unit: %" PRIu32 ", start time unit: %" PRIu32 ".\n",
@@ -1211,19 +1019,19 @@ int32_t Linklayer_Proc(L2_INST *instPtr)
// Run Link layer routine, setup next slot procedure.
if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
{
Phy_SetMode(instPtr->config.phyInstPtr, PHY_MODE_PULL);
Phy_SetMode(phyRef, PHY_MODE_PULL);
Status = Linklayer_Routine(instPtr);
}
else
{ // L2_NODE_MEMBER
if (L2_isCxn2Net(instPtr))
{
Phy_SetMode(instPtr->config.phyInstPtr, PHY_MODE_PULL);
Phy_SetMode(phyRef, PHY_MODE_PULL);
Status = Linklayer_Routine(instPtr);
}
else
{
Phy_SetMode(instPtr->config.phyInstPtr, PHY_MODE_LISTEN);
Phy_SetMode(phyRef, PHY_MODE_LISTEN);
Status = L2_Scan_Proc(instPtr);
}
}
@@ -1241,14 +1049,14 @@ int32_t Linklayer_Proc(L2_INST *instPtr)
instPtr->mainState = instPtr->nextState;
instPtr->linkLog.tuNum = instPtr->frameNum.curr;
instPtr->linkLog.slotNum = (uint8_t)instPtr->slotNum.curr;
instPtr->linkLog.nodeType = (instPtr->config.myType == L2_NODE_HEAD) ? 0xAA : 0xCC;
instPtr->linkLog.cxnStatus = (instPtr->cxn2Net) ? 0x11 : 0x00;
instPtr->linkLog.nodeType = (L2_GetNodeType(instPtr) == L2_NODE_HEAD) ? 0xAA : 0xCC;
instPtr->linkLog.cxnStatus = (L2_isCxn2Net(instPtr)) ? 0x11 : 0x00;
instPtr->linkLog.linkStage = (instPtr->mainState == L2_INIT_STATE) ? 0x11 : 0x22;
instPtr->linkLog.recxnCnt = instPtr->log.reconnectCnt;
instPtr->linkLog.beamNo = instPtr->scanFSM->beamNo;
instPtr->linkLog.beamWidth = instPtr->log.lastBeamWidth;
instPtr->linkLog.beamAz = instPtr->config.phyInstPtr->antNrrwPattern[instPtr->scanFSM->beamNo].oaxis;
instPtr->linkLog.beamEl = instPtr->config.phyInstPtr->antNrrwPattern[instPtr->scanFSM->beamNo].raxis;
instPtr->linkLog.beamAz = phyRef->antNrrwPattern[instPtr->scanFSM->beamNo].oaxis;
instPtr->linkLog.beamEl = phyRef->antNrrwPattern[instPtr->scanFSM->beamNo].raxis;
instPtr->linkLog.advTxCnt = (uint16_t)instPtr->log.advTxCnt;
instPtr->linkLog.advRecvCnt = (uint16_t)instPtr->log.advRecvCnt;
instPtr->linkLog.advCorrectCnt = (uint16_t)instPtr->log.advCorrectCnt;
@@ -1258,11 +1066,212 @@ int32_t Linklayer_Proc(L2_INST *instPtr)
instPtr->linkLog.svcTxCnt = instPtr->log.svcTxCnt;
instPtr->linkLog.svcRecvCnt = instPtr->log.svcRecvCnt;
instPtr->linkLog.svcCorrectCnt = instPtr->log.svcCorrectCnt;
instPtr->linkLog.timeDev = (instPtr->log.timeDev > INT32_MAX)
instPtr->linkLog.timeDev = (instPtr->log.timeDev > INT32_MAX)
? INT32_MAX : ((instPtr->log.timeDev < INT32_MIN) ? INT32_MIN : (int32_t)instPtr->log.timeDev);
instPtr->linkLog.sendId = instPtr->serviceFSM->txLog.dataId;
instPtr->linkLog.recvId = instPtr->serviceFSM->rxLog.dataId;
instPtr->linkLog.sendId = instPtr->log.txLog.dataId;
instPtr->linkLog.recvId = instPtr->log.rxLog.dataId;
SysMonitor_UpdateLinklayerLog(&(instPtr->linkLog));
return SUCCESS;
}
/*****************************************************************************/
/**
* @brief Steer antenna beam to specified node.
*
* @param instPtr a pointer to link layer descriptor instance
* @param nodeId destination node
*
* @return Corresponding frame length
* L2_FRAME_NONE_LEN if the frame type code cannot be recognized.
*
******************************************************************************/
int32_t L2_SteerBeam2Node(L2_INST *instPtr, uint8_t nodeId)
{
ASSERT(instPtr != NULL);
int32_t Status;
COORD myPos, dstPos, beamDir;
Status = L2_GetNodePos(instPtr->nodeList, nodeId, &dstPos);
if (Status != SUCCESS)
{
DBG_ERROR("Failed to retrieve position info of node %" PRIu8 ", remain last configuration.\n", nodeId);
return EPARAM;
}
myPos.x = instPtr->sysInfo.posX;
myPos.y = instPtr->sysInfo.posY;
myPos.z = instPtr->sysInfo.posZ;
// TODO Check data format
EULERANGLES attitudeEuler, antAttitudeEuler;
attitudeEuler.alpha = DEG2RAD(instPtr->sysInfo.pitch);
attitudeEuler.beta = DEG2RAD(instPtr->sysInfo.yaw);
attitudeEuler.gamma = DEG2RAD(instPtr->sysInfo.roll);
// FIXME: confirm date source.
antAttitudeEuler.alpha = DEG2RAD(0);
antAttitudeEuler.beta = DEG2RAD(0);
antAttitudeEuler.gamma = DEG2RAD(0);
// TODO Check data format
QUATERNION attitude, antAttitude;
attitude = Quaternion_FromeEulerAngles(attitudeEuler, EULERANGLES_XYZ);
antAttitude = Quaternion_FromeEulerAngles(antAttitudeEuler, EULERANGLES_XYZ);
// --- --- Algorithm --- ---
// TODO Check result validation
// Compute beam direction vector
beamDir = Coord_Sub(dstPos, myPos);
// Compute antenna attitude respect to ECEF
antAttitude = Quaternion_Mult(attitude, antAttitude);
// Convert beam direction vector to antenna coordinate
beamDir = Quaternion_Rotate(Quaternion_GeInverse(antAttitude), beamDir);
// Normalize
Coord_Normalize(&beamDir);
double oAxis, rAxis;
oAxis = RAD2DEG(atan2(beamDir.z, beamDir.y));
rAxis = RAD2DEG(acos(Coord_Dot(beamDir, COORD_X_AXIS)));
Status = Phy_SetBeamAngle(instPtr->config.phyInstPtr, oAxis, rAxis);
return Status;
}
/*****************************************************************************/
/**
* @brief Layer 2 setup next slot operation, update current operating frame.
*
* @param instPtr a pointer to linklayer instance
* @param txrxMode tx/rx state for next slot
* @param frameType frame type of next slot.
*
* @return SUCCESS/FAILURE
*
******************************************************************************/
int32_t L2_SetupNextSlot(L2_INST *instPtr, L2_TOR_TYPE txrxMode, L2_FRAME_TYPE frameType)
{
ASSERT(instPtr != NULL);
PHY_INST *phyRef = instPtr->config.phyInstPtr;
int32_t Status;
if (frameType < L2_SCAN_FRAME || frameType > L2_SVC_FRAME)
{
return FAILURE;
}
// logging
if (txrxMode == L2_TOR_TX)
{
instPtr->log.frameTx++;
switch (frameType)
{
case L2_ADV_FRAME:
instPtr->log.advTxCnt++;
break;
case L2_CFM_FRAME:
instPtr->log.cfmTxCnt++;
break;
case L2_SVC_FRAME:
instPtr->log.svcTxCnt++;
break;
default:
break;
}
}
else if (txrxMode == L2_TOR_RX)
{
instPtr->log.frameRx++;
switch (frameType)
{
case L2_ADV_FRAME:
instPtr->log.advRxCnt++;
break;
case L2_CFM_FRAME:
instPtr->log.cfmRxCnt++;
break;
case L2_SVC_FRAME:
instPtr->log.svcRxCnt++;
break;
default:
break;
}
}
#if _DEBUG_LEVEL >= 3
char *torStr = NULL;
char *frameStr = NULL;
switch (txrxMode)
{
case L2_TOR_SUSPEND:
torStr = "SUSPEND";
break;
case L2_TOR_TX:
torStr = "TX";
break;
case L2_TOR_RX:
torStr = "RX";
break;
}
switch (frameType)
{
case L2_SCAN_FRAME:
frameStr = "Scan";
break;
case L2_ADV_FRAME:
frameStr = "Advertisement";
break;
case L2_CFM_FRAME:
frameStr = "Confirm";
break;
case L2_SVC_FRAME:
frameStr = "Service";
break;
default:
frameStr = "UNKNOWN Frame";
break;
}
DBG_INFO("# Setup Next Slot # [%" PRIu32 "-%" PRIu32 "], %s, %s.\n",
instPtr->frameNum.next,
instPtr->slotNum.next,
torStr, frameStr);
#endif
// Update frame and tx/rx mode record.
// Frame types shift (last <- curr <- next)
L2_RcdShift(&(instPtr->frame), frameType);
L2_RcdShift(&(instPtr->tor), txrxMode);
TIME_WORD pullTime = {0, 0};
pullTime.int_part = TimeCtrl_GetIntCnt(instPtr->config.tmcInstPtr) + 1;
Status = Phy_SetTimeWord(phyRef, &pullTime, PHY_TIME_WORD_POLL);
if (Status != SUCCESS)
{
DBG_ERROR("Physical set pull time failed, with error code: %" PRId32 "\n", Status);
}
PHY_TOR_TYPE tor;
switch (txrxMode)
{
case L2_TOR_SUSPEND:
tor = PHY_TOR_SUSPEND;
break;
case L2_TOR_TX:
tor = PHY_TOR_TX;
break;
case L2_TOR_RX:
tor = PHY_TOR_RX;
break;
default:
DBG_ERROR("Invalid txrx mode :%" PRId8 ".\n", txrxMode);
return EPARAM;
}
Status = Phy_SetupNextSlot(phyRef, tor, L2_L2frame2L1frame(frameType), instPtr->sendPktData);
if (Status != SUCCESS)
{
DBG_ERROR("Physical setup failed, with error code: %" PRId32 "\n", Status);
}
return Status;
}
/** @} LinkLayer_Main*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/link_layer.h
+123 -79
View File
@@ -1,19 +1,21 @@
/*****************************************************************************/
/**
* Description: Header file for df linklayer functions
* @file link_layer.h
* @author FanHao ([email protected])
* @brief DF Linklayer header file.
* @version 0.1
* @date 2023-05-06
*
* Date: 2021-11-13 13:33
* LastEditTime: 2022-07-16 10:12
* Revisions: Rev 0.1
* History:
* [2022-07-16]: New branch for DiJian.
* [2021-11-23]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @defgroup LinkLayer
* @{
*/
#ifndef __LINK_LAYER_H_
#define __LINK_LAYER_H_
@@ -30,78 +32,94 @@
#define AssertL2Event(instPtr, event) Linklayer_EventHandler(instPtr, event)
/**************************** Type Definitions *******************************/
/**
* @struct L2_CONFIG
* @brief A struct holds all linklayer initialization parameters
*/
typedef struct
{
L2_NODE_TYPE myType;
bool isInterHead;
uint8_t clustId;
uint8_t myId;
uint8_t headId;
uint8_t bkpHeadId;
uint8_t netScale;
PHY_INST *phyInstPtr;
TMC_INST *tmcInstPtr;
L2_NODE_TYPE myType; ///< node type
uint8_t clustId; ///< node cluster id
uint8_t myId; ///< node id
uint8_t headId; ///< head node id
uint8_t netScale; ///< net scale
PHY_INST *phyInstPtr; ///< pointer to system physical layer instance
TMC_INST *tmcInstPtr; ///< pointer to system timer controller layer instance
} L2_CONFIG;
/**
* @struct L2_LOG
* @brief A struct holds linklayer operating log
*/
typedef struct
{
uint32_t frameRx;
uint32_t frameTx;
uint32_t frameRecv;
uint32_t frameCorrect;
uint32_t frameRx; ///< total rx frame count
uint32_t frameTx; ///< total tx frame count
uint32_t frameRecv; ///< total received frame count
uint32_t frameCorrect; ///< total correctly received frame count
uint32_t advRxCnt;
uint32_t advTxCnt;
uint32_t advRecvCnt;
uint32_t advCorrectCnt;
uint32_t advRxCnt; ///< advertise rx frame count
uint32_t advTxCnt; ///< advertise tx frame count
uint32_t advRecvCnt; ///< advertise received frame count
uint32_t advCorrectCnt; ///< advertise correctly received frame count
uint32_t cfmRxCnt;
uint32_t cfmTxCnt;
uint32_t cfmRecvCnt;
uint32_t cfmCorrectCnt;
uint32_t cfmRxCnt; ///< confirm rx frame count
uint32_t cfmTxCnt; ///< confirm tx frame count
uint32_t cfmRecvCnt; ///< confirm received frame count
uint32_t cfmCorrectCnt; ///< confirm correctly received frame count
uint32_t svcRxCnt;
uint32_t svcTxCnt;
uint32_t svcRecvCnt;
uint32_t svcCorrectCnt;
uint32_t svcRxCnt; ///< service rx frame count
uint32_t svcTxCnt; ///< service tx frame count
uint32_t svcRecvCnt; ///< service received frame count
uint32_t svcCorrectCnt; ///< service correctly received frame count
int64_t timeDev;
uint8_t lastBeamWidth;
uint32_t reconnectCnt;
int64_t timeDev; ///< last time deviation estimation result
uint8_t lastBeamWidth; ///< last beam width
uint32_t reconnectCnt; ///< reconnect trial count
PAYLOAD rxLog;
PAYLOAD txLog;
} L2_LOG;
/**
* @struct L2_INST
* @brief A linklayer instance
*/
typedef struct
{
L2_CONFIG config;
L2_NODE_INFO myInfo;
NODE_LIST *nodeList;
L2_SCHD_POOL *schdEventPool;
uint32_t netStartTime;
bool isEnable; // if the node is connected to the network
bool dataAvail; // if there is a valid received frame data in rx buffer
bool cxn2Net; // if the node is connected to the network
L2_RCD frameNum; // stores the last current and next frame number.
L2_RCD slotNum; // stores the last current and next slot number.
L2_RCD frame; // stores the last current and next link layer frame type.
L2_RCD tor; // stores the last current and next link layer tx/rx state.
L2_NODE_STATE mainState; // the main state of link layer state
L2_NODE_STATE nextState; // next state of link layer state, which will be applied to mainState every second.
L2_RTNE_CONFIG rtneConfig; // current routine table configuration and status.
L2_SCAN_FSM *scanFSM; // FSM of scan net (link set up)
L2_SVC_FSM *serviceFSM; // FSM of service net (data service)
uint8_t *sendPktData;
uint8_t *recvPktData;
L2_LOG log;
L2_CONFIG config; ///< linklayer configuration parameters
L2_NODE_INFO myInfo; ///< current node info
NODE_LIST *nodeList; ///< discovered node list
L2_SCHD_POOL *schdEventPool; ///< event schedule pool
uint32_t netStartTime; ///< network start time
bool isEnable; ///< indicates if the node is connected to the network
bool dataAvail; ///< indicates if there is a valid received frame data in rx buffer
bool cxn2Net; ///< indicates if the node is connected to the network
L2_RCD frameNum; ///< stores the last current and next frame number.
L2_RCD slotNum; ///< stores the last current and next slot number.
L2_RCD frame; ///< stores the last current and next link layer frame type.
L2_RCD tor; ///< stores the last current and next link layer tx/rx state.
L2_NODE_STATE mainState; ///< the main state of link layer state
L2_NODE_STATE nextState; ///< next state of link layer state, which will be applied to mainState every second.
L2_RTNE_CONFIG rtneConfig; ///< current routine table configuration and status.
L2_SCAN_FSM *scanFSM; ///< FSM of scan net (link set up)
L2_SVC_FSM *serviceFSM; ///< FSM of service net (data service)
uint8_t *sendPktData; ///< send data buffer
uint8_t *recvPktData; ///< received data buffer
L2_LOG log; ///< Linklayer operating log
// for system log
SYSINFO sysInfo;
LINKLOG linkLog;
SYSINFO sysInfo; ///< system info
LINKLOG linkLog; ///< linklayer log for system monitor
} L2_INST;
/************************** Variable Definitions *****************************/
extern L2_RTNE_TABLE_ENTRY *initTable[L2_INIT_RTNE_PERIOD];
extern L2_RTNE_TABLE_ENTRY *normalTable[L2_NORMAL_RTNE_PERIOD];
/************************** Function Prototypes ******************************/
// Main
/**
* @defgroup LinkLayer_Main
* @{
*/
int32_t Linklayer_Init(L2_INST **instPtr, const L2_CONFIG *config);
int32_t Linklayer_Reconfig(L2_INST *instPtr, const L2_CONFIG *config);
void Linklayer_Destroy(L2_INST *instPtr);
@@ -112,24 +130,33 @@ int32_t Linklayer_EventHandler(L2_INST *instPtr, const L2_EVENT *l2Event);
int32_t Linklayer_PktHandler(L2_INST *instPtr, L2_FRAME_TYPE frameType);
int32_t L2_SteerBeam2Node(L2_INST *instPtr, uint8_t nodeId);
int32_t L2_SetupNextSlot(L2_INST *instPtr, L2_TOR_TYPE txrxMode, L2_FRAME_TYPE frameType);
void L2_FrameStateUpdate(L2_INST *instPtr);
L2_FRAME_TYPE L2_GetLastOptFrameType(L2_INST *instPtr);
L1_FRAME_TYPE L2_L2frame2L1frame(L2_FRAME_TYPE l2Frame);
/** @} LinkLayer_Main*/
// Scheduling Event
/**
* @defgroup LinkLayer_Framing
* @{
*/
void L2_FrameInsertChunk(uint8_t *frame, size_t offset, size_t bytes, const void *chunk);
void L2_FrameGetChunk(uint8_t *frame, size_t offset, size_t bytes, void *chunk);
int32_t L2_CrcAppend(uint8_t *dataBuff, uint32_t dataLen, uint32_t crcPos, L2_CRC_TYPE crcType);
bool L2_CrcCheck(uint8_t *dataBuff, uint32_t dataLen, L2_CRC_TYPE crcType);
/** @} LinkLayer_Framing*/
/**
* @defgroup LinkLayer_Scheduler
* @{
*/
void L2_EventPoolHandler(L2_INST *instPtr);
int32_t L2_ScheduleEventAt(L2_INST *instPtr, L2_SCHD_EVENT *schdEvent, uint32_t frameNo, uint32_t slotNo);
int32_t L2_ScheduleEventAfter(L2_INST *instPtr, L2_SCHD_EVENT *schdEvent, uint32_t numSlots);
int32_t L2_RescheduleEventAt(L2_INST *instPtr, L2_SCHD_EVENT *schdEvent, uint32_t frameNo, uint32_t slotNo);
int32_t L2_RescheduleEventAfter(L2_INST *instPtr, L2_SCHD_EVENT *schdEvent, uint32_t numSlots);
/** @} LinkLayer_Scheduler*/
// Framing
void L2_FrameInsertChunk(uint8_t *frame, size_t offset, size_t bytes, const void *chunk);
void L2_FrameGetChunk(uint8_t *frame, size_t offset, size_t bytes, void *chunk);
int32_t L2_CrcAppend(uint8_t *dataBuff, uint32_t dataLen, uint32_t crcPos, L2_CRC_TYPE crcType);
bool L2_CrcCheck(uint8_t *dataBuff, uint32_t dataLen, L2_CRC_TYPE crcType);
// Scanning
/**
* @defgroup LinkLayer_Scan
* @{
*/
int32_t L2_Scan_Init(L2_SCAN_FSM **scanFSMPtr);
void L2_Scan_RefreashScanTable(L2_INST *instPtr);
void L2_Scan_Reset(L2_SCAN_FSM *scanFSMPtr);
@@ -137,21 +164,38 @@ void L2_Scan_Destroy(L2_SCAN_FSM *scanFSMPtr);
int32_t L2_Scan_Proc(L2_INST *instPtr);
int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg);
int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *schedEntry);
/** @} LinkLayer_Scan*/
// Service
/**
* @defgroup LinkLayer_Service
* @{
*/
int32_t L2_Service_Init(L2_SVC_FSM **svcFSMPtr);
void L2_Service_Reset(L2_SVC_FSM *svcFSMPtr);
void L2_Service_Destroy(L2_SVC_FSM *svcFSMPtr);
int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg);
int32_t L2_Service_Proc(L2_INST *instPtr);
int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *schedEntry);
/** @} LinkLayer_Service*/
// Miscellaneous
/**
* @defgroup LinkLayer_TimeSync
* @{
*/
int32_t L2_GetTimeDeviation(L2_INST *instPtr, uint32_t frameNum, uint32_t slotNum, bool relative, int64_t *timeDev);
void L2_TimeAdjust(L2_INST *instPtr, const int64_t *timeDev);
/** @} LinkLayer_TimeSync*/
/**
* @defgroup LinkLayer_Utility
* @{
*/
uint8_t L2_GetNodeId(L2_INST *instPtr);
uint8_t L2_GetClusterId(L2_INST *instPtr);
uint8_t L2_GetHeadId(L2_INST *instPtr);
L2_NODE_TYPE L2_GetNodeType(L2_INST *instPtr);
L2_NODE_STATE L2_GetMainState(L2_INST *instPtr);
bool L2_isStarted(L2_INST *instPtr);
bool L2_isDataAvail(L2_INST *instPtr);
bool L2_isCxn2Net(L2_INST *instPtr);
uint32_t L2_GetFrameLen(L2_FRAME_TYPE l2FrameType);
@@ -167,10 +211,10 @@ uint32_t L2_GetNextFrameNum(L2_INST *instPtr);
uint32_t L2_GetNextSlotNum(L2_INST *instPtr);
L2_FRAME_TYPE L2_GetNextFrameType(L2_INST *instPtr);
L2_TOR_TYPE L2_GetNextTor(L2_INST *instPtr);
// Time syncronization
int32_t L2_GetTimeDeviation(L2_INST *instPtr, uint32_t frameNum, uint32_t slotNum, bool relative, int64_t* timeDev);
void L2_TimeAdjust(L2_INST *instPtr, const int64_t *timeDev);
L2_FRAME_TYPE L2_GetLastOptFrameType(L2_INST *instPtr);
L1_FRAME_TYPE L2_L2frame2L1frame(L2_FRAME_TYPE l2Frame);
/** @} LinkLayer_Utility*/
#endif /* __LINK_LAYER_H_ */
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/link_layer_types.h
+95 -66
View File
@@ -1,17 +1,19 @@
/*****************************************************************************/
/**
* Description: A brief description of this file
* @file link_layer_types.h
* @author FanHao ([email protected])
* @brief DF Linklayer types definition.
* @version 0.1
* @date 2023-05-06
*
* Date: 2022-08-28 22:53
* LastEditTime: 2022-08-29 00:45
* Revisions: Rev 0.0
* History:
* [2022-08-29]: Initial version.
*
* Copyright(c) 2022 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @defgroup LinkLayer
* @{
*/
#ifndef __LINK_LAYER_DEF_H_
#define __LINK_LAYER_DEF_H_
@@ -26,6 +28,10 @@
#include "../config/app_config.h"
#endif
/************************** Constant Definitions *****************************/
/**
* @name Linklayer_Common_Constants
* @{
*/
// Common node ID definition
#define L2_BROADCAST_ID 0xFF
#define L2_NONE_ID 0
@@ -39,7 +45,7 @@
#define L2_FRAMENO_NONE 0
// Common number of slots definition
#define L2_SLOTS_PER_FRAME 200
#define L2_SLOTS_PER_FRAME 100
#define L2_SLOTS_PER_SUBFRAME 20
#define L2_NUM_SLOTS_NONE UINT32_MAX
@@ -48,9 +54,14 @@
#define L2_NUM_SLOTS_10MS 2
#define L2_NUM_SLOTS_5MS 1
#define L2_NUM_SLOTS_SKIP 0
/** @} Linklayer_Common_Constants*/
/**************************** Type Definitions *******************************/
/**
* @struct L2_RCD
* @brief Linklayer recode buffer
*/
typedef struct
{
uint32_t last;
@@ -58,7 +69,8 @@ typedef struct
uint32_t next;
} L2_RCD;
/** @name Tx/Rx mode code
/**
* @enum L2_TOR_TYPE
*/
typedef enum
{
@@ -67,7 +79,8 @@ typedef enum
L2_TOR_RX = 2
} L2_TOR_TYPE;
/** @name Prior information type definition
/**
* @enum L2_NODE_TYPE
*/
typedef enum
{
@@ -77,7 +90,8 @@ typedef enum
L2_NODE_BACKUP = 3
} L2_NODE_TYPE;
/** @name Node state type definition
/**
* @enum L2_NODE_STATE
*/
typedef enum
{
@@ -89,23 +103,24 @@ typedef enum
L2_SEEK_STATE = 5
} L2_NODE_STATE;
/** @name Node information type definition
* The following types define the detail node info which needed by the link layer.
/**
* @struct L2_NODE_INFO
* @brief Node information struct contains the detail node info which needed by the link layer.
*/
typedef struct
{
uint8_t nodeId;
uint8_t clustId;
uint8_t headId;
L2_NODE_TYPE nodeType;
uint8_t beamNo;
COORD pos;
COORD speed;
QUATERNION attitude;
uint8_t nodeId; ///< node ID
uint8_t clustId; ///< node cluster ID
uint8_t headId; ///< cluster head ID
L2_NODE_TYPE nodeType; ///< node type
uint8_t beamNo; ///< beam number to this node
COORD pos; ///< node position
COORD speed; ///< node speed
QUATERNION attitude; ///< node attitude
} L2_NODE_INFO;
/** @name L2 event enum
* A enum of L2 event types.
/**
* @enum L2_EVENT_TYPE
*/
typedef enum
{
@@ -123,17 +138,18 @@ typedef enum
L2_ROUTINE_UPDATE = 11
} L2_EVENT_TYPE;
/** @name L2 event
* A definition of L2 event instance.
/**
* @struct L2_EVENT
* @brief Linklayer event instance
*/
typedef struct
{
L2_EVENT_TYPE event;
void *msg;
L2_EVENT_TYPE event; ///< event type
void *msg; ///< event message
} L2_EVENT;
/** @name Slot types
* A definition of different slots.
/**
* @enum L2_SLOT_TYPE
*/
typedef enum
{
@@ -145,8 +161,8 @@ typedef enum
L2_SLOT_SERVICE = 5,
} L2_SLOT_TYPE;
/** @name Frame types
* A definition of different frame types.
/**
* @enum L2_FRAME_TYPE
*/
typedef enum
{
@@ -157,8 +173,8 @@ typedef enum
L2_SVC_FRAME = 4
} L2_FRAME_TYPE;
/** @name Frame types
* A definition of different frame types.
/**
* @enum L2_CRC_TYPE
*/
typedef enum
{
@@ -168,17 +184,21 @@ typedef enum
L2_CRC8_31 = 3
} L2_CRC_TYPE;
/** @name Schedule subtable entry
* A definition of Schedule subtable entry.
/**
* @struct L2_RTNE_TABLE_ENTRY
* @brief Linklayer routine table entry
*/
typedef struct
{
L2_SLOT_TYPE slotType : 8;
uint8_t slotSeq;
uint8_t src;
uint8_t dst;
L2_SLOT_TYPE slotType : 8; ///< slot type
uint8_t slotSeq; ///< slot sequence number
uint8_t src; ///< source node ID
uint8_t dst; ///< destination node ID
} L2_RTNE_TABLE_ENTRY;
/**
* @enum SCAN_STAGE
*/
typedef enum
{
L2_SCAN_NONE_STAGE = 0,
@@ -187,47 +207,56 @@ typedef enum
L2_SCAN_CFM_STAGE = 3
} SCAN_STAGE;
/** @name Scan procedure FSM
/**
* @struct L2_SCAN_FSM
* @brief Linklayer scan process FSM instance
*/
typedef struct
{
bool isLocked; // init acq done.
bool isAdvRecvd; // bm received.
bool isAckPending; // 2way acq done.
uint8_t scanCnt;
uint8_t advTimeout;
uint8_t cfmTimeout;
SCAN_STAGE scanStage; // only for member node
uint8_t beamNo;
uint8_t tableNo;
bool isLocked; ///< indicates if init acq done(beam locked).
bool isAdvRecvd; ///< indicates if advertisement frame done(beam locked).
bool isAckPending; ///< indicates if confirm message acked
uint8_t scanCnt; ///< scan count
uint8_t advTimeout; ///< adv receive try count
uint8_t cfmTimeout; ///< cmf receive try count
SCAN_STAGE scanStage; ///< scan stage \n
/// only for member node
uint8_t beamNo; ///< locked beam number
uint8_t tableNo; ///< scan table index
} L2_SCAN_FSM;
/** @name Service procedure FSM
/**
* @struct L2_SVC_FSM
* @brief Linklayer service process FSM
*/
typedef struct
{
PAYLOAD rxLog;
PAYLOAD txLog;
uint32_t pktRecv;
uint32_t pktCorrect;
uint32_t txCnt; ///< tx frame count
uint32_t rxCnt; ///< rx frame count
uint32_t rxdCnt; ///< received frame count
#ifdef DATALINK_ENABLE_BERTEST
uint32_t bitTotal;
uint32_t bitError;
double lossRate;
double errorRate;
uint32_t bitTotal; ///< received bits count
uint32_t bitError; ///< error bits count
double lossRate; ///< packet loss rate
double errorRate; ///< bit error rate
#endif
} L2_SVC_FSM;
/**
* @struct L2_RTNE_CONFIG
* @brief Linklayer routine table configuration
*/
typedef struct
{
L2_RTNE_TABLE_ENTRY **rtneTable;
uint32_t rtnePrd;
L2_RTNE_TABLE_ENTRY *last;
L2_RTNE_TABLE_ENTRY *curr;
L2_RTNE_TABLE_ENTRY *next;
L2_RTNE_TABLE_ENTRY **rtneTable; ///< routine table
uint32_t rtnePrd; ///< period of routine table
L2_RTNE_TABLE_ENTRY *last; ///< last routine entry
L2_RTNE_TABLE_ENTRY *curr; ///< curent routine entry
L2_RTNE_TABLE_ENTRY *next; ///< next routine entry
} L2_RTNE_CONFIG;
/************************** Variable Definitions *****************************/
#endif /* __LINK_LAYER_DEF_H_ */
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/msg_def.h
+22 -11
View File
@@ -1,23 +1,31 @@
/*****************************************************************************/
/**
* Description: Header of 814 linklayer messages
* @file msg_def.c
* @author FanHao ([email protected])
* @brief DF Linklayer message definition constants.
* @version 0.0
* @date 2023-05-06
*
* Date: 2022-07-14 00:08
* LastEditTime: 2022-07-14 22:52
* Revisions: Rev 0.0
* History:
* [2022-07-14]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @name LinkLayer_MSG_Constants
* @{
*/
#ifndef __L2_MSG_DEF_H_
#define __L2_MSG_DEF_H_
#define L2_PACK_LEN_MAX 512 // bytes
#define L2_ADV_PACK_LEN 28 // bytes
#define L2_ADV_PACK_LEN 28 // bytes
#define L2_CMF_PACK_LEN 268 // bytes
#define L2_SVC_PACK_LEN 268 // bytes
@@ -115,5 +123,8 @@
#define L2_MSG_SVC_CRC 266
#define L2_MSG_SVC_CRC_LEN 2
#endif //__L2_MSG_DEF_H_
/** @} LinkLayer_MSG_Constants*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/node_list.c
+38 -24
View File
@@ -1,19 +1,25 @@
/*****************************************************************************/
/**
* Description: Implementations of 814 linklayer local record.
* @file node_list.c
* @author FanHao ([email protected])
* @brief DF Linklayer node list implementation file
* @version 0.0
* @date 2023-05-06
*
* Date: 2022-07-14 00:08
* LastEditors: Fan Hao
* LastEditTime: 2022-07-14 22:52
* Revisions: Rev 0.0
* History:
* [2022-07-14]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayer_NodeList
* @{
*/
/***************************** Include Files *********************************/
#include <stdlib.h>
#include <string.h>
@@ -26,6 +32,10 @@
#include "error.h"
/***************** Macros (Inline Functions) Definitions *********************/
/**
* @brief Get the node list length
* @param list pointer to node list
*/
inline uint32_t L2_GetNodeListLen(NODE_LIST *list)
{
ASSERT(list != NULL);
@@ -94,7 +104,7 @@ int32_t L2_NodeList_Init(NODE_LIST **list)
* @brief Clear all nodes in the node list, free allocated memory.
*
* @param list
*NONE
* @return NONE
*
******************************************************************************/
void L2_NodeList_Clear(NODE_LIST *list)
@@ -123,7 +133,7 @@ void L2_NodeList_Destroy(NODE_LIST *list)
* @param list
* @param nodeId
*
* @return Node entry
* @return Node entry \n
* NULL if node dose not exist.
*
******************************************************************************/
@@ -154,7 +164,7 @@ NODE_ENTRY *L2_GetNodeById(NODE_LIST *list, uint8_t nodeId)
* @param nodeId
* @param nodeType
*
* @return SUCCESS Node was added successfully.
* @return SUCCESS Node was added successfully.\n
* Other Error occurred.(Node already exist, memory alloc error ect.)
*
******************************************************************************/
@@ -201,7 +211,7 @@ NODE_ENTRY *L2_AppendNode(NODE_LIST *list, uint8_t nodeId, L2_NODE_TYPE nodeType
* @param list
* @param nodeId
*
* @return SUCCESS Node has been successfully deleted.
* @return SUCCESS Node has been successfully deleted.\n
* Other Node not exist.
*
******************************************************************************/
@@ -227,7 +237,7 @@ int32_t L2_DeleteNodeById(NODE_LIST *list, uint8_t nodeId)
* @param list
* @param nodeId
*
* @return true node in the list
* @return true node in the list\n
* false node not in the list
*
******************************************************************************/
@@ -245,7 +255,7 @@ bool L2_isNodeInList(NODE_LIST *list, uint8_t nodeId)
* @param nodeId
* @param dst A pointer to store distance.
*
* @return SUCCESS distance has been successfully store in dst
* @return SUCCESS distance has been successfully store in dst\n
* FAILURE Node dose not exit.
*
******************************************************************************/
@@ -273,7 +283,7 @@ int32_t L2_GetDistance(NODE_LIST *list, COORD myCoord, uint8_t nodeId, double *d
* @param nodeId
* @param newPos A structure stores the corresponding node position info.
*
* @return SUCCESS update successfully.
* @return SUCCESS update successfully.\n
* FAILURE node not exist.
*
******************************************************************************/
@@ -300,7 +310,7 @@ int32_t L2_UpdateNodePos(NODE_LIST *list, uint8_t nodeId, const COORD *newPos)
* @param nodeId
* @param newPos A structure stores the corresponding node position info.
*
* @return SUCCESS update successfully.
* @return SUCCESS update successfully.\n
* FAILURE node not exist.
*
******************************************************************************/
@@ -327,7 +337,7 @@ int32_t L2_GetNodePos(NODE_LIST *list, uint8_t nodeId, COORD *pos)
* @param nodeId
* @param newSpeed A structure stores the corresponding node speed info.
*
* @return SUCCESS update successfully.
* @return SUCCESS update successfully.\n
* FAILURE node not exist.
*
******************************************************************************/
@@ -354,7 +364,7 @@ int32_t L2_UpdateNodeSpeed(NODE_LIST *list, uint8_t nodeId, const COORD *newSpee
* @param nodeId
* @param newSpeed A structure stores the corresponding node speed info.
*
* @return SUCCESS update successfully.
* @return SUCCESS update successfully.\n
* FAILURE node not exist.
*
******************************************************************************/
@@ -380,7 +390,7 @@ int32_t L2_GetNodeSpeed(NODE_LIST *list, uint8_t nodeId, COORD *speed)
* @param nodeId
* @param devi
*
* @return SUCCESS update successfully.
* @return SUCCESS update successfully.\n
* FAILURE Node not exist.
*
******************************************************************************/
@@ -432,7 +442,7 @@ int32_t L2_IncNodeTTL(NODE_LIST *list, uint8_t nodeId, uint32_t inc)
* @param list
* @param nodeId
*
* @return SUCCESS TTL has been successfully cleared.
* @return SUCCESS TTL has been successfully cleared.\n
* FAILURE Node not exist.
*
******************************************************************************/
@@ -486,7 +496,7 @@ int32_t L2_GetNodeTTL(NODE_LIST *list, uint8_t nodeId, uint32_t *ttl)
* @param operation A pointer to a function handled "NODE_ENTRY*" as input
* which defines the operations need to be apply.
*
* @return SUCCESS Operations has been applied successfully to all nodes.
* @return SUCCESS Operations has been applied successfully to all nodes.\n
* Other Error occurred.
*
******************************************************************************/
@@ -520,7 +530,7 @@ int32_t L2_IterEditNode(NODE_LIST *list, const void *param, int32_t (*operation)
*
* @param list
* @param condition A pointer to a function handled "NODE_ENTRY*" as input
* which defines the condition need to be verify.
* which defines the condition need to be verify.
*
* @return SUCCESS
*
@@ -545,3 +555,7 @@ int32_t L2_IterDeleteNode(NODE_LIST *list, bool (*condition)(NODE_ENTRY *))
clist_iterator_destroy(iter);
return SUCCESS;
}
/** @} LinkLayer_NodeList*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/node_list.h
+26 -11
View File
@@ -1,19 +1,27 @@
/*****************************************************************************/
/**
* Description: Header of 814 linklayer local record.
* @file node_list.h
* @author FanHao ([email protected])
* @brief DF Linklayer node list header file
* @version 0.0
* @date 2023-05-06
*
* Date: 2022-07-14 00:08
* LastEditors: Fan Hao
* LastEditTime: 2022-07-14 22:52
* Revisions: Rev 0.0
* History:
* [2022-07-14]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @defgroup LinkLayer_NodeList
* @{
*/
/***************************** Include Files *********************************/
#ifndef NODE_LIST_H_
#define NODE_LIST_H_
@@ -29,7 +37,11 @@
/************************** Constant Definitions *****************************/
/***************** Macros (Inline Functions) Definitions *********************/
/**************************** Type Definitions *******************************/
typedef struct NODE_LIST_ENTRY
/**
* @struct NODE_ENTRY
* @brief Linklayer discovered node list node entry
*/
typedef struct
{
L2_NODE_INFO nodeInfo;
uint32_t ttlCnt;
@@ -62,3 +74,6 @@ int32_t L2_IterEditNode(NODE_LIST *list, const void *param, int32_t (*operation)
int32_t L2_IterDeleteNode(NODE_LIST *list, bool (*condition)(NODE_ENTRY *));
#endif /* NODE_LIST_H_ */
/** @} LinkLayer_NodeList*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/routine_table.c
+21 -676
View File
@@ -1,467 +1,30 @@
/*****************************************************************************/
/**
* Description: Time allocations for df datalink,
* Date: 2022-07-16 17:05
* LastEditTime: 2022-07-16 17:05
* Revisions: Rev 0.1
* History:
* [2021-11-13]: Initial version.
* @file routine_table.c
* @author FanHao ([email protected])
* @brief DF Linklayer node list implementation file
* @version 0.0
* @date 2023-05-06
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @name RoutineTable
* @{
*/
#include <inttypes.h>
#include "link_layer.h"
#include "link_layer_types.h"
#define LINKLAYER_INSERT_EXTRGAP
#ifndef LINKLAYER_INSERT_EXTRGAP
L2_RTNE_TABLE_ENTRY intraScanSubT[L2_SLOTS_PER_FRAME] = {
// SubFrame 0
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
// SubFrame 1
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
// SubFrame 2
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
// SubFrame 3
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
{L2_SLOT_ADVERTISE, 0x00, 0x01, 0xFF},
{L2_SLOT_ADVERTISE, 0x01, 0x01, 0xFF},
{L2_SLOT_ADVERTISE, 0x02, 0x01, 0xFF},
{L2_SLOT_ADVERTISE, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 4
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
// SubFrame 5
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
// SubFrame 6
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
// SubFrame 7
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
// SubFrame 8
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
// SubFrame 9
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
};
L2_RTNE_TABLE_ENTRY normalSub[L2_SLOTS_PER_FRAME] = {
// SubFrame 0
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
// SubFrame 1
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
// SubFrame 2
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
// SubFrame 3
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
// SubFrame 4
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
// SubFrame 5
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
// SubFrame 6
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
// SubFrame 7
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
// SubFrame 8
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
// SubFrame 9
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
};
#else
L2_RTNE_TABLE_ENTRY intraScanSubT[L2_SLOTS_PER_FRAME] = {
// SubFrame 0
{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
@@ -572,116 +135,6 @@ L2_RTNE_TABLE_ENTRY intraScanSubT[L2_SLOTS_PER_FRAME] = {
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 5
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 6
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 7
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 8
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 9
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
};
L2_RTNE_TABLE_ENTRY normalSub[L2_SLOTS_PER_FRAME] = {
@@ -794,118 +247,7 @@ L2_RTNE_TABLE_ENTRY normalSub[L2_SLOTS_PER_FRAME] = {
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 5
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 6
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 7
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 8
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
// SubFrame 9
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
};
#endif
L2_RTNE_TABLE_ENTRY *initTable[L2_INIT_RTNE_PERIOD] =
{
@@ -915,4 +257,7 @@ L2_RTNE_TABLE_ENTRY *initTable[L2_INIT_RTNE_PERIOD] =
L2_RTNE_TABLE_ENTRY *normalTable[L2_NORMAL_RTNE_PERIOD] =
{
normalSub
};
};
/** @} RoutineTable*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/scan.c
+278 -233
View File
@@ -1,18 +1,24 @@
/*****************************************************************************/
/**
* Description: Implementations of df linklayer scan net.
* @file scan.c
* @author FanHao ([email protected])
* @brief DF Linklayer scan implementation file.
* @version 0.1
* @date 2023-05-06
*
* Date: 2021-11-10 19:04
* LastEditTime: 2022-07-16 17:04
* Revisions: Rev 0.1
* History:
* [2022-07-16]: New branch for DiJian.
* [2021-11-10]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayer_Scan
* @{
*/
/***************************** Include Files *********************************/
#include <string.h>
@@ -26,7 +32,7 @@
/************************** Constant Definitions *****************************/
#define ADV_LISTEN_TIMEOUT 40
#define CFM_LISTEN_TIMEOUT 25
#define CFM_LISTEN_TIMEOUT 5
#define ADV_FRAME_SLOTS 4
#define CFM_FRAME_SLOTS 5
/***************** Macros (In-line Functions) Definitions *********************/
@@ -36,7 +42,7 @@
/************************** Variable Definitions *****************************/
// Pair by regex
// Regex: ((\{\.oaxis = [0-9]+[ ,]+\.raxis = [0-9]+[ ]*\}, ){2})
PHY_ANT_ANGLE antNrrwPattern_0[L1_NUM_ANT_NRRW_PATTERN] =
PHY_ANT_ANGLE antNrrwPattern_0[L1_NUM_ANT_NRRW_PATTERN] =
{
{.oaxis = 0 , .raxis = 0 },
{.oaxis = 139, .raxis = 2225},
@@ -77,7 +83,7 @@ PHY_ANT_ANGLE antNrrwPattern_0[L1_NUM_ANT_NRRW_PATTERN] =
{.oaxis = 450, .raxis = 897 }
};
PHY_ANT_ANGLE antNrrwPattern_1[L1_NUM_ANT_NRRW_PATTERN] =
PHY_ANT_ANGLE antNrrwPattern_1[L1_NUM_ANT_NRRW_PATTERN] =
{
{.oaxis = 0 , .raxis = 0 },
{.oaxis = 139, .raxis = 1155},
@@ -198,36 +204,39 @@ static int32_t Scan_InitScanHandler(L2_INST *instPtr)
L2_SCAN_FSM *scanFsmPtr = instPtr->scanFSM;
DBG_INFO("** Net-Setup - InitScan Procedure (Attempts: %" PRIu8 ")**\n", scanFsmPtr->scanCnt);
if(scanFsmPtr->scanCnt == 0)
if (scanFsmPtr->scanCnt == 0)
{
// Update scan beam table
L2_Scan_RefreashScanTable(instPtr);
}
else if(Phy_IsFrameDetected(phyRef))
else if (Phy_IsFrameDetected(phyRef))
{
// last scan beam number
instPtr->scanFSM->beamNo = Phy_LastScanBeamNo(instPtr->config.phyInstPtr);
scanFsmPtr->beamNo = Phy_LastScanBeamNo(phyRef);
// Update scan beam table
L2_Scan_RefreashScanTable(instPtr);
}
if (scanFsmPtr->isLocked == true)
{
StageUpdate(scanFsmPtr, L2_SCAN_ADV_STAGE);
/* Antenna setting (reserved.) */
scanFsmPtr->beamNo = Phy_LastScanBeamNo(phyRef);
Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_ADV_FRAME);
StageUpdate(scanFsmPtr, L2_SCAN_ADV_STAGE);
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
} /* Otherwise remain L2_SCAN_INIT_STAGE */
else
{
/* Antenna setting (reserved.) */
/* Antenna steering (reserved, automatically accomplished by physical layer) */
Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_SCAN_FRAME);
scanFsmPtr->scanCnt++;
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
}
return SUCCESS;
}
/*****************************************************************************/
/**
* @brief Member node scan net BmAdvt stage handler.
*
@@ -239,19 +248,36 @@ static int32_t Scan_InitScanHandler(L2_INST *instPtr)
******************************************************************************/
static int32_t Scan_AdvHandler(L2_INST *instPtr)
{
ASSERT(instPtr != NULL);
L2_SCAN_FSM *scanFsmPtr = instPtr->scanFSM;
PHY_INST *phyRef = instPtr->config.phyInstPtr;
TMC_INST *tmcRef = instPtr->config.tmcInstPtr;
DBG_INFO("** Net-Setup - Advertisement Procedure (Timeout: %" PRIu8 ") **\n", scanFsmPtr->advTimeout);
// if received a valid bm frame.
if (scanFsmPtr->isAdvRecvd == true)
{
// last scan beam number
instPtr->scanFSM->beamNo = Phy_LastScanBeamNo(instPtr->config.phyInstPtr);
scanFsmPtr->beamNo = Phy_LastScanBeamNo(phyRef);
// reset listen counter.
scanFsmPtr->advTimeout = 0;
scanFsmPtr->advTimeout = 0; /* reset listen counter. */
DBG_INFO("Received Adv frame, skipping 10ms for turn around...\n");
// TODO: check functionality.
// Update scan stage
StageUpdate(scanFsmPtr, L2_SCAN_CFM_STAGE);
// start a confirm frame reception if in the target slot
if ((TimeCtrl_GetIntCnt(tmcRef) + 1) % CFM_FRAME_SLOTS == 0)
{
// using pull mode to receive confirm frame
// since first time sync procedure is accomplished in ADV stage.
Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
Phy_SetMode(phyRef, PHY_MODE_PULL);
L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
scanFsmPtr->cfmTimeout++; // increase counter.
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
}
// otherwise skip...
return SUCCESS;
}
// no valid bm frame was received.
@@ -260,16 +286,20 @@ static int32_t Scan_AdvHandler(L2_INST *instPtr)
/* if time out reached, go back to init scan stage. */
if (scanFsmPtr->advTimeout > ADV_LISTEN_TIMEOUT)
{
/* Antenna setting (reserved.) */
/* Antenna steering (reserved, automatically accomplished by physical layer) */
Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_SCAN_FRAME);
DBG_WARNING("Adv timeout, restart net scan from L2_SCAN_INIT_STAGE.\n");
L2_Scan_Reset(scanFsmPtr);
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
}
else
{
/* Antenna setting (reserved.) */
/* Antenna steering (reserved, automatically accomplished by physical layer) */
Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_ADV_FRAME);
scanFsmPtr->advTimeout++;
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
}
return SUCCESS;
}
@@ -286,7 +316,9 @@ static int32_t Scan_AdvHandler(L2_INST *instPtr)
******************************************************************************/
static int32_t Scan_CfmHandler(L2_INST *instPtr)
{
ASSERT(instPtr != NULL);
L2_SCAN_FSM *scanFsmPtr = instPtr->scanFSM;
PHY_INST *phyRef = instPtr->config.phyInstPtr;
DBG_INFO("** Net-Setup - Confirm Procedure (Timeout: %" PRIu8 ") **\n", scanFsmPtr->cfmTimeout);
// 2 way acq failed, back to init stage.
@@ -300,9 +332,9 @@ static int32_t Scan_CfmHandler(L2_INST *instPtr)
{
// using pull mode to receive confirm frame
// since first time sync procedure is accomplished in ADV stage.
Phy_SetBeamWidth(instPtr->config.phyInstPtr, PHY_ANT_BEAM_16);
Phy_SetBeamNo(instPtr->config.phyInstPtr, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
Phy_SetMode(instPtr->config.phyInstPtr, PHY_MODE_PULL);
Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
Phy_SetMode(phyRef, PHY_MODE_PULL);
L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
scanFsmPtr->cfmTimeout++; // increase counter.
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
@@ -327,12 +359,13 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
int32_t Status;
uint32_t dataChunk;
uint8_t *buff = instPtr->sendPktData;
if(type < L2_ADV_FRAME || type > L2_CFM_FRAME)
if (type < L2_ADV_FRAME || type > L2_CFM_FRAME)
{
DBG_ERROR("Unexpected frame type: %" PRId8 ".\n", type);
return EPARAM;
}
// Common section of link layer package
dataChunk = L2_GetNextFrameNum(instPtr);
L2_FrameInsertChunk(buff, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &dataChunk);
dataChunk = L2_GetNextSlotNum(instPtr);
@@ -382,7 +415,7 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
// Packing extra payload
uint32_t dataId;
if(L2_GetNodeType(instPtr) == L2_NODE_HEAD)
if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
{
SysMonitor_GetSendPayload(buff + L2_MSG_CFM_PAYLOAD, &dataId, PAYLOAD_LEN_FLJ_TX);
}
@@ -404,6 +437,10 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
DBG_ERROR("Fail to append CRC, error code: %" PRId32 ".\n", Status);
return Status;
}
// Logging...
memcpy(instPtr->log.txLog.data, buff, L2_CMF_PACK_LEN);
instPtr->log.txLog.dataId = dataId;
break;
}
default:
@@ -415,6 +452,208 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
return SUCCESS;
}
/*****************************************************************************/
/**
* @brief Scan net packet handler.
*
* @param instPtr a pointer to linklayer layer instance
* @param msg A pointer to frame data buffer.
*
* @return
*
******************************************************************************/
int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
{
ASSERT(instPtr != NULL);
ASSERT(msg != NULL);
int32_t Status;
L2_SCAN_FSM *scanFsmPtr = instPtr->scanFSM;
L2_FRAME_TYPE frameType = L2_NONE_FRAME;
L2_FrameGetChunk(msg, L2_MSG_TYPE, L2_MSG_TYPE_LEN, &frameType);
switch (frameType)
{
case L2_SCAN_FRAME:
case L2_ADV_FRAME:
{
if (L2_GetLastOptFrameType(instPtr) == L2_SCAN_FRAME)
{
LockStateUpdate(scanFsmPtr, true);
StageUpdate(scanFsmPtr, L2_SCAN_ADV_STAGE);
}
if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
{
DBG_ERROR("Unexpected call from head node, only member Node can handle L2_SCAN_FRAME and L2_ADV_FRAME.\n");
Status = EUNEXP;
break;
}
uint8_t nodeId;
L2_FrameGetChunk(msg, L2_MSG_SRC_ID, L2_MSG_SRC_ID_LEN, &nodeId);
NODE_ENTRY *node;
node = L2_GetNodeById(instPtr->nodeList, nodeId);
if (node == NULL)
{
node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
if (node == NULL)
{
DBG_ERROR("Failed to append new node [id: %" PRId8 "]", nodeId);
Status = ENOMEM;
break;
}
}
// Update node info.
float nodePos;
L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_POSX, L2_MSG_ADV_SRC_POSX_LEN, &nodePos);
node->nodeInfo.pos.x = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_POSY, L2_MSG_ADV_SRC_POSY_LEN, &nodePos);
node->nodeInfo.pos.y = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_POSZ, L2_MSG_ADV_SRC_POSZ_LEN, &nodePos);
node->nodeInfo.pos.z = (double)nodePos;
node->nodeInfo.beamNo = Phy_LastScanBeamNo(instPtr->config.phyInstPtr);
// Reset node ttl
node->ttlCnt = 0;
uint32_t netstartTime;
// Update net start time.
L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_NETSTART_TIME, L2_MSG_ADV_SRC_NETSTART_TIME_LEN, &netstartTime);
L2_EVENT netSetupDoneEvent = {
.event = L2_EV_NET_ADV_UPDATE,
.msg = &netstartTime};
AssertL2Event(instPtr, &netSetupDoneEvent);
// Calculate time deviation
uint32_t frameNum, slotNum = 0;
L2_FrameGetChunk(msg, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &frameNum);
L2_FrameGetChunk(msg, L2_MSG_SLOT_NUM, L2_MSG_SLOT_NUM_LEN, &slotNum);
Status = L2_GetTimeDeviation(instPtr, frameNum, slotNum, true, &(instPtr->log.timeDev));
if (Status != SUCCESS)
{
DBG_ERROR("Failed to compute time deviation.\n")
break;
}
// Time sync.
L2_TimeAdjust(instPtr, &(instPtr->log.timeDev));
// trigger flag
AdvRecvStateUpdate(scanFsmPtr, true);
Status = SUCCESS;
break;
}
case L2_CFM_FRAME:
{
uint8_t nodeId;
L2_FrameGetChunk(msg, L2_MSG_SRC_ID, L2_MSG_SRC_ID_LEN, &nodeId);
NODE_ENTRY *node;
node = L2_GetNodeById(instPtr->nodeList, nodeId);
if (node == NULL)
{
node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
if (node == NULL)
{
DBG_ERROR("Failed to append new node [id: %" PRId8 "]", nodeId);
Status = ENOMEM;
break;
}
}
// Update node info.
float nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_POSX, L2_MSG_CFM_SRC_POSX_LEN, &nodePos);
node->nodeInfo.pos.x = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_POSY, L2_MSG_CFM_SRC_POSY_LEN, &nodePos);
node->nodeInfo.pos.y = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_POSZ, L2_MSG_CFM_SRC_POSZ_LEN, &nodePos);
node->nodeInfo.pos.z = (double)nodePos;
float nodeSpeed;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDX, L2_MSG_CFM_SRC_SPEEDX_LEN, &nodeSpeed);
node->nodeInfo.speed.x = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDY, L2_MSG_CFM_SRC_SPEEDY_LEN, &nodeSpeed);
node->nodeInfo.speed.y = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDZ, L2_MSG_CFM_SRC_SPEEDZ_LEN, &nodeSpeed);
node->nodeInfo.speed.z = (double)nodePos;
// Reset node ttl
node->ttlCnt = 0;
// Calculate time deviation
uint32_t frameNum, slotNum = 0;
L2_FrameGetChunk(msg, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &frameNum);
L2_FrameGetChunk(msg, L2_MSG_SLOT_NUM, L2_MSG_SLOT_NUM_LEN, &slotNum);
Status = L2_GetTimeDeviation(instPtr, frameNum, slotNum, true, &(instPtr->log.timeDev));
if (Status != SUCCESS)
{
DBG_ERROR("Failed to compute time deviation.\n")
break;
}
if (L2_GetNodeType(instPtr) != L2_NODE_HEAD)
{
// check if net setup finished.
if (L2_isCxn2Net(instPtr) == false)
{
// Assert Net-Setup Done.
L2_EVENT l2Event;
l2Event.event = L2_EV_NET_SETUP_DONE;
l2Event.msg = NULL;
AssertL2Event(instPtr, &l2Event);
// Assert update routine event...
L2_RTNE_CONFIG newRtneConfig = {0};
L2_EVENT rtneUpEvent =
{
.event = L2_ROUTINE_UPDATE,
.msg = &newRtneConfig
};
newRtneConfig.rtneTable = initTable;
newRtneConfig.rtnePrd = ARRAY_SIZE(initTable);
AssertL2Event(instPtr, &rtneUpEvent);
}
PendCfmAck(instPtr->scanFSM);
// Time sync.
L2_TimeAdjust(instPtr, &(instPtr->log.timeDev));
}
else
{
if (L2_GetMainState(instPtr) == L2_INIT_STATE
&& L2_GetNodeListLen(instPtr->nodeList) >= instPtr->config.netScale - 1)
{
// Assert Net-Setup Done.
L2_EVENT l2Event;
L2_NODE_STATE newState = L2_NORMAL_STATE;
l2Event.event = L2_EV_MAIN_STATE_UPDATE;
l2Event.msg = &newState;
AssertL2Event(instPtr, &l2Event);
}
}
// Get data payload
uint32_t dataId;
L2_FrameGetChunk(msg, L2_MSG_CFM_PAYLOAD_ID, L2_MSG_CFM_PAYLOAD_ID_LEN, &dataId);
if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
{
SysMonitor_UpdateRecvPayload(msg + L2_MSG_CFM_PAYLOAD, dataId, PAYLOAD_LEN_FLJ_RX);
}
else
{
SysMonitor_UpdateRecvPayload(msg + L2_MSG_CFM_PAYLOAD, dataId, PAYLOAD_LEN_LJ_RX);
}
// Logging...
memcpy(instPtr->log.rxLog.data, msg, L2_CMF_PACK_LEN);
instPtr->log.rxLog.dataId = dataId;
Status = SUCCESS;
break;
}
default:
DBG_ERROR("Unsupported frame type: %" PRId8 ".\n", frameType);
Status = EUNEXP;
break;
}
return Status;
}
/*****************************************************************************/
/**
* @brief Initialize scan FSM.
@@ -500,204 +739,6 @@ void L2_Scan_RefreashScanTable(L2_INST *instPtr)
}
}
/*****************************************************************************/
/**
* @brief Scan net packet handler.
*
* @param instPtr a pointer to linklayer layer instance
* @param msg A pointer to frame data buffer.
*
* @return
*
******************************************************************************/
int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
{
ASSERT(instPtr != NULL);
ASSERT(msg != NULL);
int32_t Status;
L2_SCAN_FSM *scanFsmPtr = instPtr->scanFSM;
L2_FRAME_TYPE frameType = L2_GetLastOptFrameType(instPtr);
switch (frameType)
{
case L2_SCAN_FRAME:
LockStateUpdate(scanFsmPtr, true);
StageUpdate(scanFsmPtr, L2_SCAN_ADV_STAGE);
case L2_ADV_FRAME:
{
if (instPtr->config.myType == L2_NODE_HEAD)
{
DBG_ERROR("Unexpected call from head node, only member Node can handle L2_SCAN_FRAME and L2_ADV_FRAME.\n");
Status = EUNEXP;
break;
}
uint8_t nodeId;
L2_FrameGetChunk(msg, L2_MSG_SRC_ID, L2_MSG_SRC_ID_LEN, &nodeId);
NODE_ENTRY *node;
node = L2_GetNodeById(instPtr->nodeList, nodeId);
if (node == NULL)
{
node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
if(node == NULL)
{
DBG_ERROR("Failed to append new node [id: %" PRId8 "]", nodeId);
Status = ENOMEM;
break;
}
}
// Update node info.
float nodePos;
L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_POSX, L2_MSG_ADV_SRC_POSX_LEN, &nodePos);
node->nodeInfo.pos.x = (double) nodePos;
L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_POSY, L2_MSG_ADV_SRC_POSY_LEN, &nodePos);
node->nodeInfo.pos.y = (double) nodePos;
L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_POSZ, L2_MSG_ADV_SRC_POSZ_LEN, &nodePos);
node->nodeInfo.pos.z = (double) nodePos;
node->nodeInfo.beamNo = Phy_LastScanBeamNo(instPtr->config.phyInstPtr);
// Reset node ttl
node->ttlCnt = 0;
uint32_t netstartTime;
// Update net start time.
L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_NETSTART_TIME, L2_MSG_ADV_SRC_NETSTART_TIME_LEN, &netstartTime);
L2_EVENT netSetupDoneEvent = {
.event = L2_EV_NET_ADV_UPDATE,
.msg = &netstartTime};
AssertL2Event(instPtr, &netSetupDoneEvent);
// Calculate time deviation
uint32_t frameNum, slotNum = 0;
L2_FrameGetChunk(msg, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &frameNum);
L2_FrameGetChunk(msg, L2_MSG_SLOT_NUM, L2_MSG_SLOT_NUM_LEN, &slotNum);
Status = L2_GetTimeDeviation(instPtr, frameNum, slotNum, true, &(instPtr->log.timeDev));
if (Status != SUCCESS)
{
DBG_ERROR("Failed to compute time deviation.\n")
break;
}
// Time sync.
L2_TimeAdjust(instPtr, &(instPtr->log.timeDev));
// trigger flag
AdvRecvStateUpdate(scanFsmPtr, true);
Status = SUCCESS;
break;
}
case L2_CFM_FRAME:
{
uint8_t nodeId;
L2_FrameGetChunk(msg, L2_MSG_SRC_ID, L2_MSG_SRC_ID_LEN, &nodeId);
NODE_ENTRY *node;
node = L2_GetNodeById(instPtr->nodeList, nodeId);
if (node == NULL)
{
node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
if(node == NULL)
{
DBG_ERROR("Failed to append new node [id: %" PRId8 "]", nodeId);
Status = ENOMEM;
break;
}
}
// Update node info.
float nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_POSX, L2_MSG_CFM_SRC_POSX_LEN, &nodePos);
node->nodeInfo.pos.x = (double) nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_POSY, L2_MSG_CFM_SRC_POSY_LEN, &nodePos);
node->nodeInfo.pos.y = (double) nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_POSZ, L2_MSG_CFM_SRC_POSZ_LEN, &nodePos);
node->nodeInfo.pos.z = (double) nodePos;
float nodeSpeed;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDX, L2_MSG_CFM_SRC_SPEEDX_LEN, &nodeSpeed);
node->nodeInfo.speed.x = (double) nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDY, L2_MSG_CFM_SRC_SPEEDY_LEN, &nodeSpeed);
node->nodeInfo.speed.y = (double) nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDZ, L2_MSG_CFM_SRC_SPEEDZ_LEN, &nodeSpeed);
node->nodeInfo.speed.z = (double) nodePos;
// Reset node ttl
node->ttlCnt = 0;
// Calculate time deviation
uint32_t frameNum, slotNum = 0;
L2_FrameGetChunk(msg, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &frameNum);
L2_FrameGetChunk(msg, L2_MSG_SLOT_NUM, L2_MSG_SLOT_NUM_LEN, &slotNum);
Status = L2_GetTimeDeviation(instPtr, frameNum, slotNum, true, &(instPtr->log.timeDev));
if (Status != SUCCESS)
{
DBG_ERROR("Failed to compute time deviation.\n")
break;
}
if (L2_GetNodeType(instPtr) != L2_NODE_HEAD)
{
// check if net setup finished.
if (L2_isCxn2Net(instPtr) == false)
{
// Assert Net-Setup Done.
L2_EVENT l2Event;
l2Event.event = L2_EV_NET_SETUP_DONE;
l2Event.msg = NULL;
AssertL2Event(instPtr, &l2Event);
// Assert update routine event...
L2_RTNE_CONFIG newRtneConfig = {0};
L2_EVENT rtneUpEvent =
{
.event = L2_ROUTINE_UPDATE,
.msg = &newRtneConfig
};
newRtneConfig.rtneTable = initTable;
newRtneConfig.rtnePrd = ARRAY_SIZE(initTable);
AssertL2Event(instPtr, &rtneUpEvent);
}
PendCfmAck(instPtr->scanFSM);
}
else
{
if (L2_GetMainState(instPtr) == L2_INIT_STATE
&& L2_GetNodeListLen(instPtr->nodeList) >= instPtr->config.netScale - 1)
{
// Assert Net-Setup Done.
L2_EVENT l2Event;
L2_NODE_STATE newState = L2_NORMAL_STATE;
l2Event.event = L2_EV_MAIN_STATE_UPDATE;
l2Event.msg = &newState;
AssertL2Event(instPtr, &l2Event);
}
// Time sync.
L2_TimeAdjust(instPtr, &(instPtr->log.timeDev));
}
// Get data payload
uint32_t dataId;
L2_FrameGetChunk(msg, L2_MSG_CFM_PAYLOAD_ID, L2_MSG_CFM_PAYLOAD_ID_LEN, &dataId);
if(dataId != DATA_ID_NONE)
{
if(L2_GetNodeType(instPtr) == L2_NODE_HEAD)
{
SysMonitor_UpdateRecvPayload(msg+L2_MSG_CFM_PAYLOAD, PAYLOAD_LEN_FLJ_RX);
}
else
{
SysMonitor_UpdateRecvPayload(msg+L2_MSG_CFM_PAYLOAD, PAYLOAD_LEN_LJ_RX);
}
}
Status = SUCCESS;
break;
}
default:
DBG_ERROR("Unsupported frame type: %" PRId8 ".\n", frameType);
Status = EUNEXP;
break;
}
return Status;
}
/*****************************************************************************/
/**
* @brief Execute a member node scan net procedure.
@@ -756,7 +797,8 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
ASSERT(instPtr != NULL);
L2_TOR_TYPE torState;
int32_t Status;
const NODE_ENTRY* commNode;
const NODE_ENTRY *commNode;
PHY_INST *phyRef = instPtr->config.phyInstPtr;
DBG_INFO("-------- Scan Routine --------\n");
if (rtneEntry->slotSeq != 0)
@@ -782,11 +824,11 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
}
// Setup antenna beam
Phy_SetBeamWidth(instPtr->config.phyInstPtr, PHY_ANT_BEAM_16);
Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
if (commNode != NULL)
{
Phy_SetBeamNo(instPtr->config.phyInstPtr, commNode->nodeInfo.beamNo, PHY_ANT_BEAM_16);
Phy_SetBeamNo(phyRef, commNode->nodeInfo.beamNo, PHY_ANT_BEAM_16);
}
}
else
@@ -804,7 +846,7 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
torState = L2_TOR_SUSPEND;
}
// Setup antenna beam
Phy_SetBeamWidth(instPtr->config.phyInstPtr, PHY_ANT_BEAM_120);
Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_120);
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_120;
}
@@ -870,3 +912,6 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
routine_err:
return Status;
}
/** @} LinkLayer_Scan*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/schdevent.c
+18 -10
View File
@@ -1,19 +1,24 @@
/*****************************************************************************/
/**
* Description: Event scheduling implementation
* @file schdevent.c
* @author FanHao ([email protected])
* @brief DF Linklayer Event scheduling implementation file.
* @version 0.1
* @date 2023-05-06
*
* Date: 2023-12-21 13:32
* LastEditors: Fan Hao
* LastEditTime: 2023-12-21 13:32
* Revisions: Rev 0.0
* History:
* [2023-12-21]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayer_Scheduler
* @{
*/
/***************************** Include Files *********************************/
#include <stdlib.h>
#include "schdevent.h"
@@ -428,3 +433,6 @@ inline bool L2_isEventScheduled(const L2_SCHD_EVENT *schdEvent)
ASSERT(schdEvent != NULL);
return schdEvent->isSchd;
}
/** @} LinkLayer_Scheduler*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/schdevent.h
+26 -15
View File
@@ -1,18 +1,24 @@
/*****************************************************************************/
/**
* Description: Event scheduling implementation
* @file schdevent.c
* @author FanHao ([email protected])
* @brief DF Linklayer Event scheduling header file.
* @version 0.1
* @date 2023-05-06
*
* Date: 2023-12-21 13:32
* LastEditors: Fan Hao
* LastEditTime: 2023-12-21 13:32
* Revisions: Rev 0.0
* History:
* [2023-12-21]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayer_Scheduler
* @{
*/
#ifndef SCHDEVENT_H_
#define SCHDEVENT_H_
@@ -24,8 +30,9 @@
#include "clist.h"
/***************** Macros (Inline Functions) Definitions *********************/
/**************************** Type Definitions *******************************/
/** @name L2 event
* A definition of L2 event instance.
/**
* @struct L2_SCHD_EVENT
* @brief Linklayer scheduled event descriptor
*/
typedef struct
{
@@ -38,8 +45,9 @@ typedef struct
uint32_t schdSlot;
} L2_SCHD_EVENT;
/** @name L2 event
* A definition of L2 event instance.
/**
* @struct L2_SCHD_POOL
* @brief Linklayer schedule event pool instance
*/
typedef struct
{
@@ -62,4 +70,7 @@ void L2_SchdEventAppendMsg(L2_SCHD_EVENT *schdEvent, void *msg);
bool L2_isEventScheduled(const L2_SCHD_EVENT *schdEvent);
int32_t L2_CancelEvent(L2_SCHD_EVENT *schdEvent);
#endif // SCHDEVENT_H_
#endif // SCHDEVENT_H_
/** @} LinkLayer_Scheduler*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/service.c
+111 -100
View File
@@ -1,18 +1,24 @@
/*****************************************************************************/
/**
* Description: Implementations for df datalink service net.
* Date: 2021-11-16 00:08
* LastEditTime: 2022-07-16 17:04
* Revisions: Rev 0.1
* History:
* [2022-07-16]: New branch for DiJian.
* [2021-11-16]: Initial version.
* @file service.c
* @author FanHao ([email protected])
* @brief DF Linklayer service implementation file.
* @version 0.0
* @date 2023-05-06
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayer_Service
* @{
*/
/***************************** Include Files *********************************/
#include <string.h>
#include <stdint.h>
@@ -88,6 +94,7 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
uint32_t dataChunk;
uint8_t *buff = instPtr->sendPktData;
// Common section of link layer package
dataChunk = L2_GetNextFrameNum(instPtr);
L2_FrameInsertChunk(buff, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &dataChunk);
dataChunk = L2_GetNextSlotNum(instPtr);
@@ -113,7 +120,7 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
L2_FrameInsertChunk(buff, L2_MSG_SVC_SRC_SPEEDZ, L2_MSG_SVC_SRC_SPEEDZ_LEN, &(instPtr->sysInfo.vZ));
uint32_t dataId;
if(L2_GetNodeType(instPtr) == L2_NODE_HEAD)
if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
{
SysMonitor_GetSendPayload(buff + L2_MSG_SVC_PAYLOAD, &dataId, PAYLOAD_LEN_FLJ_TX);
}
@@ -128,12 +135,6 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
L2_FrameInsertChunk(buff, L2_MSG_SVC_PAYLOAD, L2_MSG_SVC_PAYLOAD_LEN, testData);
}
// // packing payload
// uint32_t dataId;
// dataId = DATA_ID_TEST;
// L2_FrameInsertChunk(buff, L2_MSG_SVC_PAYLOAD_ID, L2_MSG_SVC_PAYLOAD_ID_LEN, &dataId);
// L2_FrameInsertChunk(buff, L2_MSG_SVC_PAYLOAD, L2_MSG_SVC_PAYLOAD_LEN, testData);
Status = L2_CrcAppend(buff, L2_SVC_PACK_LEN - L2_MSG_SVC_CRC_LEN, L2_MSG_SVC_CRC, L2_CRC16_1021);
if (Status != SUCCESS)
{
@@ -141,8 +142,8 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
return Status;
}
memcpy(instPtr->serviceFSM->txLog.data, buff, L2_SVC_PACK_LEN);
instPtr->serviceFSM->txLog.dataId = dataId;
memcpy(instPtr->log.txLog.data, buff, L2_SVC_PACK_LEN);
instPtr->log.txLog.dataId = dataId;
break;
}
default:
@@ -159,62 +160,6 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
#endif
}
/*****************************************************************************/
/**
* @brief Initialize service net FSM
*
* @param serviceFSM A pointer to service FSM instance.
*
* @return SUCCESS Initialize successfully.
* Other Initialize failed.
*
******************************************************************************/
int32_t L2_Service_Init(L2_SVC_FSM **svcFSMPtr)
{
ASSERT(svcFSMPtr != NULL);
*svcFSMPtr = (L2_SVC_FSM *)malloc(sizeof(L2_SVC_FSM));
if (*svcFSMPtr == NULL)
{
return ENOMEM;
}
L2_Service_Reset(*svcFSMPtr);
return SUCCESS;
}
/*****************************************************************************/
/**
* @brief Reset ServiceNet FSM
*
* @param scanFsmPtr a pointer to service net finite state machine
*
* @return NONE
*
******************************************************************************/
void L2_Service_Reset(L2_SVC_FSM *svcFSMPtr)
{
ASSERT(svcFSMPtr != NULL);
memset((&svcFSMPtr->rxLog), 0x00, sizeof(PAYLOAD));
memset((&svcFSMPtr->txLog), 0x00, sizeof(PAYLOAD));
#ifdef DATALINK_ENABLE_BERTEST
svcFSMPtr->bitTotal = 0;
svcFSMPtr->bitError = 0;
#endif
}
/*****************************************************************************/
/**
* @brief Destroy ServiceNet FSM, free memory
*
* @param scanFsmPtr a pointer to service net finite state machine
*
* @return NONE
*
******************************************************************************/
void L2_Service_Destroy(L2_SVC_FSM *serviceFSM)
{
free(serviceFSM);
}
/*****************************************************************************/
/**
* @brief Handle service received packet. Send data up to MPC
@@ -231,7 +176,7 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
ASSERT(msg != NULL);
int32_t Status;
#ifndef DATALINK_ENABLE_BERTEST
uint8_t frameType;
L2_FRAME_TYPE frameType = L2_NONE_FRAME;
L2_FrameGetChunk(msg, L2_MSG_TYPE, L2_MSG_TYPE_LEN, &frameType);
switch (frameType)
{
@@ -244,7 +189,7 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
if (node == NULL)
{
node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
if(node == NULL)
if (node == NULL)
{
DBG_ERROR("Failed to append new node [id: %" PRIu8 "]", nodeId);
Status = ENOMEM;
@@ -255,18 +200,18 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
// Update node info.
float nodePos;
L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_POSX, L2_MSG_SVC_SRC_POSX_LEN, &nodePos);
node->nodeInfo.pos.x = (double) nodePos;
node->nodeInfo.pos.x = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_POSY, L2_MSG_SVC_SRC_POSY_LEN, &nodePos);
node->nodeInfo.pos.y = (double) nodePos;
node->nodeInfo.pos.y = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_POSZ, L2_MSG_SVC_SRC_POSZ_LEN, &nodePos);
node->nodeInfo.pos.z = (double) nodePos;
node->nodeInfo.pos.z = (double)nodePos;
float nodeSpeed;
L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_SPEEDX, L2_MSG_SVC_SRC_SPEEDX_LEN, &nodeSpeed);
node->nodeInfo.speed.x = (double) nodePos;
node->nodeInfo.speed.x = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_SPEEDY, L2_MSG_SVC_SRC_SPEEDY_LEN, &nodeSpeed);
node->nodeInfo.speed.y = (double) nodePos;
node->nodeInfo.speed.y = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_SPEEDZ, L2_MSG_SVC_SRC_SPEEDZ_LEN, &nodeSpeed);
node->nodeInfo.speed.z = (double) nodePos;
node->nodeInfo.speed.z = (double)nodePos;
// Reset node ttl
node->ttlCnt = 0;
@@ -285,21 +230,19 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
uint32_t dataId;
L2_FrameGetChunk(msg, L2_MSG_SVC_PAYLOAD_ID, L2_MSG_SVC_PAYLOAD_ID_LEN, &dataId);
if(dataId != DATA_ID_NONE)
if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
{
if(L2_GetNodeType(instPtr) == L2_NODE_HEAD)
{
SysMonitor_UpdateRecvPayload(msg+L2_MSG_SVC_PAYLOAD, PAYLOAD_LEN_FLJ_RX);
}
else
{
SysMonitor_UpdateRecvPayload(msg+L2_MSG_SVC_PAYLOAD, PAYLOAD_LEN_LJ_RX);
}
SysMonitor_UpdateRecvPayload(msg + L2_MSG_SVC_PAYLOAD, dataId, PAYLOAD_LEN_FLJ_RX);
}
else
{
SysMonitor_UpdateRecvPayload(msg + L2_MSG_SVC_PAYLOAD, dataId, PAYLOAD_LEN_LJ_RX);
}
// Logging
memcpy(instPtr->serviceFSM->rxLog.data, msg, L2_SVC_PACK_LEN);
instPtr->serviceFSM->rxLog.dataId = dataId;
memcpy(instPtr->log.rxLog.data, msg, L2_SVC_PACK_LEN);
instPtr->log.rxLog.dataId = dataId;
instPtr->serviceFSM->rxdCnt++;
#ifdef DATALINK_ENABLE_AUTOTIMESYNC
// Implement a auto time sync.
@@ -346,6 +289,65 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
#endif
}
/*****************************************************************************/
/**
* @brief Initialize service net FSM
*
* @param serviceFSM A pointer to service FSM instance.
*
* @return SUCCESS Initialize successfully.
* Other Initialize failed.
*
******************************************************************************/
int32_t L2_Service_Init(L2_SVC_FSM **svcFSMPtr)
{
ASSERT(svcFSMPtr != NULL);
*svcFSMPtr = (L2_SVC_FSM *)malloc(sizeof(L2_SVC_FSM));
if (*svcFSMPtr == NULL)
{
return ENOMEM;
}
L2_Service_Reset(*svcFSMPtr);
return SUCCESS;
}
/*****************************************************************************/
/**
* @brief Reset ServiceNet FSM
*
* @param scanFsmPtr a pointer to service net finite state machine
*
* @return NONE
*
******************************************************************************/
void L2_Service_Reset(L2_SVC_FSM *svcFSMPtr)
{
ASSERT(svcFSMPtr != NULL);
svcFSMPtr->txCnt = 0;
svcFSMPtr->rxCnt = 0;
svcFSMPtr->rxdCnt = 0;
#ifdef DATALINK_ENABLE_BERTEST
svcFSMPtr->bitTotal = 0;
svcFSMPtr->bitError = 0;
svcFSMPtr->lossRate = 0;
svcFSMPtr->errorRate = 0;
#endif
}
/*****************************************************************************/
/**
* @brief Destroy ServiceNet FSM, free memory
*
* @param scanFsmPtr a pointer to service net finite state machine
*
* @return NONE
*
******************************************************************************/
void L2_Service_Destroy(L2_SVC_FSM *serviceFSM)
{
free(serviceFSM);
}
/*****************************************************************************/
/**
* @brief Service FSM Routine.
@@ -366,9 +368,10 @@ int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntr
return SUCCESS; // skip
}
PHY_INST* phyRef = instPtr->config.phyInstPtr;
PHY_INST *phyRef = instPtr->config.phyInstPtr;
L2_SVC_FSM *svcFSMPtr = instPtr->serviceFSM;
L2_TOR_TYPE torState;
const NODE_ENTRY* commNode;
const NODE_ENTRY *commNode;
if (rtneEntry->src == L2_GetNodeId(instPtr))
{
torState = L2_TOR_TX;
@@ -402,6 +405,7 @@ int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntr
case L2_SLOT_SERVICE:
if (torState == L2_TOR_TX)
{
svcFSMPtr->txCnt++;
#ifndef DATALINK_ENABLE_BERTEST
// Packing service data
Service_Packing(instPtr, L2_SVC_FRAME, rtneEntry->dst);
@@ -409,6 +413,10 @@ int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntr
memcpy(instPtr->sendPktData, testData, L2_SVC_PACK_LEN);
#endif
}
else
{
svcFSMPtr->rxCnt++;
}
L2_SetupNextSlot(instPtr, torState, L2_SVC_FRAME);
break;
default:
@@ -417,11 +425,14 @@ int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntr
}
#ifdef DATALINK_ENABLE_BERTEST
uint32_t pktLoss;
pktLoss = instPtr->log.svcRecvCnt - instPtr->log.svcCorrectCnt;
instPtr->serviceFSM->lossRate = (instPtr->log.svcRecvCnt == 0) ? 0 : (double)pktLoss / (double)instPtr->serviceFSM->pktRecv;
instPtr->serviceFSM->errorRate = (instPtr->serviceFSM->bitTotal == 0) ? 0 : (double)instPtr->serviceFSM->bitError / (double)instPtr->serviceFSM->bitTotal;
DBG_PRINT("Packet Loss Rate -- Total: %lu, Loss: %lu.\n", instPtr->serviceFSM->pktRecv, pktLoss);
DBG_PRINT("Bit Error Rate -- Total:%lu, Error:%lu.\n", instPtr->serviceFSM->bitTotal, instPtr->serviceFSM->bitError);
pktLoss = svcFSMPtr->rxCnt - svcFSMPtr->rxdCnt;
svcFSMPtr->lossRate = (svcFSMPtr->rxCnt == 0) ? 0 : (double)pktLoss / (double)svcFSMPtr->rxCnt;
svcFSMPtr->errorRate = (svcFSMPtr->bitTotal == 0) ? 0 : (double)svcFSMPtr->bitError / (double)svcFSMPtr->bitTotal;
DBG_PRINT("Packet Loss Rate -- Total: %lu, Loss: %lu.\n", instPtr->log.svcRxCnt, pktLoss);
DBG_PRINT("Bit Error Rate -- Total:%lu, Error:%lu.\n", svcFSMPtr->bitTotal, svcFSMPtr->bitError);
#endif
return SUCCESS;
}
/** @} LinkLayer_Service*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/link_layer/time_sync.c
+23 -16
View File
@@ -1,21 +1,24 @@
/*****************************************************************************/
/**
* Description: Time sync implementation file.
* @file time_sync.c
* @author FanHao ([email protected])
* @brief DF Linklayer time sync implementation file.
* @version 0.0
* @date 2023-05-06
*
* Author: Author's name
* Date: 2021-12-04 16:32
* LastEditors: FanHao
* LastEditTime: 2022-07-10 20:43
* Revisions: Rev 0.0
* History:
* [2022-07-10]: New branch for Dijian.
* [2021-12-04]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup LinkLayer
* @{
*/
/**
* @addtogroup LinkLayer_TimeSync
* @{
*/
/***************************** Include Files *********************************/
#include <string.h>
#include <stdlib.h>
@@ -49,7 +52,8 @@ int32_t L2_GetTimeDeviation(L2_INST *instPtr, uint32_t frameNum, uint32_t slotNu
ASSERT(instPtr != NULL);
ASSERT(timeDev != NULL);
L1_FRAME_TYPE lastRecvdFrame;
lastRecvdFrame = Phy_GetLastRecvFrameType(instPtr->config.phyInstPtr);
PHY_INST *phyRef = instPtr->config.phyInstPtr;
lastRecvdFrame = Phy_GetLastRecvFrameType(phyRef);
if (lastRecvdFrame == L1_NONE_FRAME)
{
DBG_ERROR("Invalid TimeAlign operation, no frame was received.");
@@ -68,7 +72,7 @@ int32_t L2_GetTimeDeviation(L2_INST *instPtr, uint32_t frameNum, uint32_t slotNu
expectTime += (uint64_t)instPtr->netStartTime * L2_SLOTS_PER_FRAME * TIME_FRAC_MAX;
}
Phy_GetLastReceivedFrameSyncTimeStamp(instPtr->config.phyInstPtr, &timeStamp);
Phy_GetLastReceivedFrameSyncTimeStamp(phyRef, &timeStamp);
currTime = (uint64_t)timeStamp.frac_part;
currTime += ((uint64_t)timeStamp.int_part) * TIME_FRAC_MAX;
@@ -76,7 +80,6 @@ int32_t L2_GetTimeDeviation(L2_INST *instPtr, uint32_t frameNum, uint32_t slotNu
return SUCCESS;
}
/*****************************************************************************/
/**
* @brief Implement time adjustment by applying time deviation.
@@ -95,4 +98,8 @@ void L2_TimeAdjust(L2_INST *instPtr, const int64_t *timeDev)
slotTimerAdjmet.int_part = (uint32_t)(*timeDev / TIME_FRAC_MAX);
slotTimerAdjmet.frac_part = (uint32_t)(*timeDev % TIME_FRAC_MAX);
TimeCtrl_TimeAdjust(instPtr->config.tmcInstPtr, &slotTimerAdjmet, TM_ADJ_ADD);
}
}
/** @} LinkLayer_TimeSync*/
/** @} LinkLayer*/
df_datalink_sp/src/networking/phy_layer/phy_antenna.c
+131 -70
View File
@@ -1,26 +1,36 @@
/*****************************************************************************/
/**
* Description: Antenna configuration functions.
* @file phy_antenna.h
* @author FanHao ([email protected])
* @brief Physical layer control antenna configuration functions.
* @version 0.0
* @date 2023-04-24
*
* Author: Fan Hao
* Date: 2022-06-18 16:37
* LastEditors: Fan Hao
* LastEditTime: 2022-06-18 17:15
* Revisions: Rev 0.0
* History:
* [2024-01-20]: New branch for duifei.
* [2022-06-18]: Initial version.
*
* Copyright(c) 2022 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup PhysicalLayer
* @{
*/
/**
* @addtogroup PhysicalLayer_AntennaControl
* @{
*/
#include <string.h>
#include <stdint.h>
#include <math.h>
#include "error.h"
#include "phy_layer.h"
/**
* @name PhysicalLayer_AntennaConfig_Constants
* @{
*/
#define ANT_PI 3.14159265358979323846
#define ANT_COINFO_HEAD 0xAA
@@ -29,10 +39,10 @@
#define CTRL_WORD_DEFAULT 0x00
#define ANT_MODE_BEAM_MASK 0xF0
#define ANT_BEAM_NARROR 0x00 // 8
#define ANT_BEAM_NARROR 0x00 // 8
#define ANT_BEAM_SUBNARROR_0 0x10 // 25
#define ANT_BEAM_SUBNARROR_1 0x20 // 60
#define ANT_BEAM_WIDE 0x30 // 120
#define ANT_BEAM_WIDE 0x30 // 120
#define ANT_MODE_POWER_MASK 0x0F
#define ANT_POWER_FULL 0x00
@@ -57,81 +67,126 @@
// Pair by regex
// Regex: (([0-9]+, ){8})
uint16_t hopPattern_Config[L1_FRAME_MAX_HOPS] =
const uint16_t freqTable[L1_FRAME_MAX_HOPS] =
{
1084, 1097, 1110, 1123, 1136, 1149, 1162, 1175,
1188, 1201, 1214, 1227, 1240, 1253, 1266, 1279,
1292, 1305, 1318, 1331, 1344, 1357, 1370, 1383,
1396, 1409, 1422, 1435, 1448, 1461, 1474, 1487,
1500, 1513, 1526, 1539, 1552, 1565, 1578, 1591,
1604, 1617, 1630, 1643, 1656, 1669, 1682, 1695,
1708, 1721, 1734, 1747, 1760, 1773, 1786, 1799,
1812, 1825, 1838, 1851, 1864, 1877, 1890, 1903,
1916, 1929, 1942, 1955, 1968, 1981, 1994, 2007,
2020, 2033, 2046, 2059, 2072, 2085, 2098, 2111,
2124
};
const uint16_t antCalTable[L1_FRAME_MAX_HOPS][L1_ANT_NUM_CH] =
//Antenna-JG01
{
{ 0, 2525, -7533, -6846}, { 0, 12726, -7818, -6860},
{ 0, 2490, -7836, -6907}, { 0, 4479, -7716, -6837},
{ 0, 6409, -7770, -6776}, { 0, 14616, -7977, -6816},
{ 0, -22557, -8002, -6911}, { 0, -22587, -8121, -6918},
{ 0, -1124, -8123, -7030}, { 0, -152, -8219, -7042},
{ 0, 1823, -8209, -7130}, { 0, 1790, -8290, -7214},
{ 0, 1669, -8362, -7283}, { 0, 1634, -8459, -7276},
{ 0, 1615, -8315, -7415}, { 0, 1698, -8168, -7366},
{ 0, 1535, -8285, -7520}, { 0, 1619, -8285, -7532},
{ 0, 1609, -8201, -7693}, { 0, 1671, -8145, -7769},
{ 0, 1676, -8135, -7805}, { 0, 951, -10279, -8871},
{ 0, 976, -10235, -8978}, { 0, 1118, -10127, -9019},
{ 0, 1175, -10003, -9007}, { 0, 1386, -9847, -9039},
{ 0, 1535, -9572, -9058}, { 0, 1729, -9493, -9006},
{ 0, -1158, -9312, -9003}, { 0, 23771, -9147, -8928},
{ 0, 20733, -9074, -8924}, { 0, 2455, -8841, -8886},
{ 0, 2622, -8718, -8735}, { 0, 2791, -8615, -8705},
{ 0, 2861, -8168, -8331}, { 0, 3076, -8091, -8218},
{ 0, 3257, -8046, -8100}, { 0, 3331, -7923, -8073},
{ 0, 3396, -7826, -7994}, { 0, 3478, -7842, -8016},
{ 0, 3518, -7846, -7765}, { 0, 3585, -7753, -7715},
{ 0, 150, -8145, -8591}, { 0, 192, -8090, -8570},
{ 0, 207, -8150, -8597}, { 0, 178, -8142, -8656},
{ 0, 89, -8557, -8688}, { 0, 107, -8614, -8733},
{ 0, 194, -8605, -8782}, { 0, 153, -8655, -8881},
{ 0, 70, -8615, -8952}, { 0, 35, -8596, -9148},
{ 0, 49, -8636, -9286}, { 0, 6, -8587, -9435},
{ 0, -51, -8540, -9549}, { 0, -65, -8588, -9700},
{ 0, -55, -8503, -9820}, { 0, -20, -8414, -9907},
{ 0, -112, -8481, -10031}, { 0, -69, -8535, -10185},
{ 0, 2, -8550, -10052}, { 0, -1, -8493, -10291},
{ 0, -73, -8441, -10380}, { 0, 1958, -6930, -8295},
{ 0, -1148, -6939, -8396}, { 0, 1915, -6784, -8370},
{ 0, 1871, -6970, -8514}, { 0, 1821, -6974, -8387},
{ 0, 1781, -6906, -8431}, { 0, 1736, -6897, -8462},
{ 0, 1664, -7024, -8377}, { 0, 1629, -7127, -8436},
{ 0, 1603, -7148, -8528}, { 0, 1577, -7198, -8500},
{ 0, 1528, -7311, -8512}, { 0, 1577, -7390, -8570},
{ 0, 1616, -7436, -8572}, { 0, 1589, -7597, -8590},
{ 0, 1722, -7550, -8568}, { 0, 1741, -7691, -8449},
{ 0, 1767, -7775, -8328},
};
const uint8_t hopPattern_2KBPS_20MS[L1_FRAME_2KBPS_20MS_HOPS] =
{
0
};
uint16_t hopPattern_2KBPS_20MS[L1_FRAME_2KBPS_20MS_HOPS] =
const uint8_t hopPattern_2KBPS_100MS[L1_FRAME_2KBPS_100MS_HOPS] =
{
1500
0, 1, 2, 3, 4, 5, 6, 7,
8, 9, 10, 11, 12, 13, 14, 15,
16, 17, 18, 19, 20, 21, 22, 23,
24, 25, 26, 27, 28, 29, 30, 31,
32, 33, 34, 35, 36, 37, 38, 39,
40, 41, 42, 43, 44, 45, 46, 47,
48, 49, 50, 51, 52, 53, 54, 55,
56, 57, 58, 59, 60, 61, 62, 63,
64, 65, 66, 67, 68, 69, 70, 71,
72, 73, 74, 75, 76, 77, 78, 79,
80
};
uint16_t hopPattern_2KBPS_100MS[L1_FRAME_2KBPS_100MS_HOPS] =
const uint8_t hopPattern_10KBPS_10MS[L1_FRAME_10KBPS_10MS_HOPS] =
{
0, 44, 88, 131, 175, 219, 263, 306,
350, 394, 438, 481, 525, 569, 613, 656,
700, 744, 788, 831, 875, 919, 963, 1006,
1050, 1094, 1138, 1181, 1225, 1269, 1313, 1356,
1400, 1444, 1488, 1531, 1575, 1619, 1663, 1706,
1750, 1794, 1838, 1881, 1925, 1969, 2013, 2056,
2100, 2144, 2188, 2231, 2275, 2319, 2363, 2406,
2450, 2494, 2538, 2581, 2625, 2669, 2713, 2756,
2800, 2844, 2888, 2931, 2975, 3019, 3063, 3106,
3150, 3194, 3238, 3281, 3325, 3369, 3413, 3456,
3500
80
};
uint16_t hopPattern_10KBPS_10MS[L1_FRAME_10KBPS_10MS_HOPS] =
const uint8_t hopPattern_10KBPS_20MS[L1_FRAME_10KBPS_20MS_HOPS] =
{
1500
80, 1, 2, 3, 4, 5, 6, 7,
8, 9, 10
};
//uint16_t hopPattern_10KBPS_20MS[L1_FRAME_10KBPS_20MS_HOPS] =
//{
// 1500, 1600, 1700, 1800, 1900, 1400, 1300, 1200,
// 1100, 1000, 900
//};
uint16_t hopPattern_10KBPS_20MS[L1_FRAME_10KBPS_20MS_HOPS] =
const uint8_t hopPattern_40KBPS_10MS[L1_FRAME_40KBPS_10MS_HOPS] =
{
1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
1500, 1500, 1500
0, 1, 2, 3, 4, 5, 6, 7,
8,
};
uint16_t hopPattern_40KBPS_10MS[L1_FRAME_40KBPS_10MS_HOPS] =
const uint8_t hopPattern_40KBPS_20MS[L1_FRAME_40KBPS_20MS_HOPS] =
{
1600, 1650, 1700, 1750, 1800, 1850, 1900, 1550,
1500
0, 1, 2, 3, 4, 5, 6, 7,
8, 9, 10, 11, 12, 13, 14, 15,
16, 17, 18
};
//uint16_t hopPattern_40KBPS_20MS[L1_FRAME_40KBPS_20MS_HOPS] =
//{
// 1600, 1650, 1700, 1750, 1800, 1850, 1900, 1550,
// 1500, 1450, 1400, 1350, 1300, 1250, 1200, 1150,
// 1100, 1050, 1000
//};
uint16_t hopPattern_40KBPS_20MS[L1_FRAME_40KBPS_20MS_HOPS] =
const uint8_t hopPattern_200KBPS_5MS[L1_FRAME_200KBPS_5MS_HOPS] =
{
1700, 1800, 1900, 2000, 1700, 1700, 1700, 1700,
1700, 1700, 1700, 1700, 1700, 1700, 1700, 1700,
1700, 1700, 1700
0, 1, 2, 3, 4, 5, 6, 7,
8, 9, 10, 11, 12, 13, 14, 15,
16, 17, 18, 19
};
uint16_t hopPattern_200KBPS_5MS[L1_FRAME_200KBPS_5MS_HOPS] =
const uint8_t hopPattern_1M2BPS_5MS[L1_FRAME_1M2BPS_5MS_HOPS] =
{
500, 1600, 1700, 1800, 1900, 2000, 1500, 1600,
1700, 1800, 1900, 2000, 1500, 1600, 1700, 1800,
1900, 2000, 1500, 1500
0, 1, 2, 3, 4, 5, 6, 7,
8, 9, 10, 11, 12, 13, 14, 15,
16, 17, 18, 19
};
uint16_t hopPattern_1M2BPS_5MS[L1_FRAME_1M2BPS_5MS_HOPS] =
{
500, 600, 700, 800, 900, 1000, 500, 600,
700, 800, 900, 1000, 500, 600, 700, 800,
900, 1000, 500, 500
};
/** @} PhysicalLayer_AntennaConfig_Constants*/
/*****************************************************************************/
/**
@@ -165,7 +220,7 @@ void Phy_AntConfigInit(PHY_ANT_CONFIG *antConfig)
// trSelect
antConfig->trSlect = 0;
// Antenna attenuation setting
antConfig->antAtt = 20;
antConfig->antAtt = 0;
// phase setting
antConfig->phase = 0;
// ***********************
@@ -224,11 +279,13 @@ void Phy_AntConfigMode(PHY_INST *instPtr, PHY_ANT_MODE mode)
}
instPtr->phyLog.antMode = mode;
instPtr->antConfig.antMode = config;
// Sync logs to system monitor
SysMonitor_UpdatePhysicalLayerLog(&(instPtr->phyLog));
}
/*****************************************************************************/
/**
* @brief Update antenna beam width setting
* @brief Update antenna beam table
*
* @param instPtr pointer to physical layer instance
* @param table new beam table
@@ -243,10 +300,10 @@ void Phy_SetBeamTable(PHY_INST *instPtr, PHY_ANT_ANGLE *table, uint32_t offset)
ASSERT(table != NULL);
for (int i = 0; i < L1_NUM_ANT_NRRW_PATTERN; i++)
{
instPtr->antNrrwPattern[i] = table[(i+offset) % L1_NUM_ANT_NRRW_PATTERN];
instPtr->antNrrwPattern[i] = table[(i + offset) % L1_NUM_ANT_NRRW_PATTERN];
}
memcpy((uint32_t*)instPtr->antInfoAddr, instPtr->antNrrwPattern,
L1_NUM_ANT_NRRW_PATTERN*sizeof(PHY_ANT_ANGLE));
memcpy((uint32_t *)instPtr->antInfoAddr, instPtr->antNrrwPattern,
L1_NUM_ANT_NRRW_PATTERN * sizeof(PHY_ANT_ANGLE));
}
/*****************************************************************************/
@@ -302,7 +359,7 @@ int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo, PHY_ANT_BEAM_WIDTH beam
* @param beamWidth new beam width
*
* @return SUCCESS.
* EPARAM - the direction is exceeds predefined range
* EPARAM
*
******************************************************************************/
int32_t Phy_SetBeamWidth(PHY_INST *instPtr, PHY_ANT_BEAM_WIDTH beamWidth)
@@ -365,3 +422,7 @@ int32_t Phy_SetBeamAngle(PHY_INST *instPtr, double offAx, double rndAx)
instPtr->antConfig.raxis[1] = (uint8_t)rndAxDeg;
return SUCCESS;
}
/** @} PhysicalLayer_AntennaControl*/
/** @} PhysicalLayer*/
df_datalink_sp/src/networking/phy_layer/phy_layer.c
+561 -500
View File
File diff suppressed because it is too large Load Diff
df_datalink_sp/src/networking/phy_layer/phy_layer.h
+179 -151
View File
@@ -1,26 +1,21 @@
/*****************************************************************************/
/**
* Description: Physical layer control definitions and function prototypes.
* @file phy_layer.c
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief Physical layer control header file.
* @version 0.0
* @date 2023-04-24
*
* Date: 2021-12-04 16:32
* LastEditTime: 2024-01-20 17:41
* Revisions: Rev 0.1
* History:
* [2021-12-08]: Initial version.
* [2022-06-18]: New branch for glink control purpose:
* -Add poll mode, physical layer will start Tx/Rx procedure
* at specific time stamp.
* -Add 61/37 beam switch
* -Code simplification.
* [2023-04-24]: Feature add:
* - Read frame type from PL status register.
* [2024-01-20]: New branch for DUIFEI.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @defgroup PhysicalLayer
* @{
*/
#ifndef PHY_CTRL_H_
#define PHY_CTRL_H_
@@ -35,13 +30,17 @@
#include "../../system_monitor.h"
#include "../../time_ctrl/time_ctrl.h"
/************************** Constant Definitions *****************************/
/**
* @name PhysicalLayer_Common_Constant
* @{
*/
#define L1_NUM_ANT_NRRW_PATTERN 37
#define L1_INIT_BEAM_NO 0
#define L1_INIT_ANT_WD PHY_ANT_BEAM_120
#define L1_INIT_ANT_NO 0
#define L1_ANT_NUM_CH 4
#define L1_FRAME_NONE_LEN UINT32_MAX // byte
#define L1_FRAME_NONE_COMP UINT32_MAX // *10ns(Timer_L)
#define L1_FRAME_NONE_LEN UINT32_MAX // byte
#define L1_FRAME_NONE_COMP UINT32_MAX // *10ns(Timer_L)
#define L1_FRAME_NONE_HOPS UINT32_MAX
#define L1_FRAME_MAX_HOPS 81
#define L1_FRAME_2KBPS_20MS_HOPS 1
@@ -52,11 +51,13 @@
#define L1_FRAME_40KBPS_10MS_HOPS 9
#define L1_FRAME_200KBPS_5MS_HOPS 20
#define L1_FRAME_1M2BPS_5MS_HOPS 20
#define PHY_TIME_WORD_H_MAX UINT32_MAX
#define PHY_TIME_WORD_L_MAX 0x0007A120 // 5ms/10ns
#define PHY_LOG_EXPIRE 40 // 50*5ms
/** @} */
/***************** Macros (Inline Functions) Definitions *********************/
/**************************** Type Definitions *******************************/
/**
* @enum L1_FRAME_TYPE
*/
typedef enum
{
L1_NONE_FRAME = 0,
@@ -70,71 +71,67 @@ typedef enum
L1_1M2BPS_5MS_FRAME = 8
} L1_FRAME_TYPE;
/**
* @struct PHY_ANT_CONFIG
* @brief PhysicalLayer antenna config
*/
typedef struct
{
/*** Ant Control ***/
/* Antenna control frame head 0xAA */
/* default 0, reserved for further use */
uint8_t ctrlWord;
/* high 4 bits specified beam mode.
* low 4 bits specified power control */
uint8_t antMode;
/* off-axis angle range is 0~60,
* 0.1 degree each LSB */
uint8_t oaxis[2];
/* round-axis angle range is 0~360,
* 0.1 degree each LSB */
uint8_t raxis[2];
/* 0~3500Mhz, step 1MHz */
uint8_t antFreq[2];
/* in single tr mode, 0~63 specified tr channel
* in single subarray mode, 0~3 specified the subarray
* Only in debug mode*/
uint8_t trSlect;
/* Antenna attenuation 0~31, 0.5dB each LSB, Only in debug mode */
uint8_t antAtt;
/* 0~63, 5.625 degree each LSB, Only in debug mode*/
uint8_t phase;
/* Only for debug */
/* default 0x00 */
uint8_t rxtxMode;
/* 0x00 Normal, 0x01 single tr calibration */
uint8_t calibrMode;
/* reserved for further use */
uint8_t antReserved;
uint8_t ctrlWord; ///< Antenna control frame head 0xAA\n
/// default 0, reserved for further use
uint8_t antMode; ///< high 4 bits specified beam mode.\n
/// low 4 bits specified power control
uint8_t oaxis[2]; ///< off-axis angle range is 0~60 \n
/// 0.1 degree each LSB
uint8_t raxis[2]; ///< round-axis angle range is 0~360, \n
/// 0.1 degree each LSB
uint8_t antFreq[2]; ///< 0~3500Mhz, step 1MHz
uint8_t trSlect; ///< in single tr mode, 0~63 specified tr channel \n
/// in single subarray mode, 0~3 specified the subarray
/// ! Only in debug mode!
uint8_t antAtt; ///< Antenna attenuation 0~31, 0.5dB each LSB, Only in debug mode
uint8_t phase; ///< 0~63, 5.625 degree each LSB, Only in debug mode
uint8_t rxtxMode; ///< Only for debug \n
/// default 0x00
uint8_t calibrMode; ///< 0x00 Normal, 0x01 single tr calibration
uint8_t antReserved; ///< reserved for further use
/*** RF Control ***/
/* [7:4]RF enable: 0-On, 1-Off(Default); [3:0]Work mode: 0(default) */
uint8_t rfCtrl;
/* 0~3500Mhz, step 1MHz */
uint8_t rfFreq[2];
/* RF MGC control: 0~31, 1dB each LSB*/
uint8_t rfTxMgc;
/* RF channel 1&2 calibration mgc: [7:4] Channle1 - max 15db, 1dB each LSB
* [3:0] Channle2 - max 15db, 1dB each LSB*/
uint8_t rf12CalMgc;
/* RF channel 3&4 calibration mgc: [7:4] Channle3 - max 15db, 1dB each LSB
* [3:0] Channle4 - max 15db, 1dB each LSB*/
uint8_t rf34CalMgc;
/* Receive channel 1-4 MGC: 0~31, 1dB each LSB */
uint8_t rcvMgc;
/* Receive monitor, 0-normal, 1-switch to monitor port */
uint8_t rfMonitor;
/* reserved for further use */
uint8_t rfReserved0;
uint8_t rfReserved1;
uint8_t rfCtrl; ///< [7:4]RF enable: 0-On, 1-Off(Default); [3:0]Work mode: 0(default)
uint8_t rfFreq[2]; ///< 0~3500Mhz, step 1MHz
uint8_t rfTxMgc; ///< RF MGC control: 0~31, 1dB each LSB
uint8_t rf12CalMgc; ///< RF channel 1&2 calibration mgc\n
/// [7:4] Channle1 - max 15db, 1dB each LSB \n
/// [3:0] Channle2 - max 15db, 1dB each LSB
uint8_t rf34CalMgc; ///< RF channel 3&4 calibration mgc\n
/// [7:4] Channle3 - max 15db, 1dB each LSB
/// [3:0] Channle4 - max 15db, 1dB each LSB
uint8_t rcvMgc; ///< Receive channel 1-4 MGC: 0~31, 1dB each LSB
uint8_t rfMonitor; ///< Receive monitor, 0-normal, 1-switch to monitor port
uint8_t rfReserved0; ///< reserved for further use
uint8_t rfReserved1; ///< reserved for further use
uint8_t ch0Cal[2];
uint8_t ch1Cal[2];
uint8_t ch2Cal[2];
uint8_t ch3Cal[2];
} PHY_ANT_CONFIG;
/**
* @struct PHY_ANT_ANGLE
* @brief Describe the PhysicalLayer antenna angle
*/
typedef struct
{
/* off-axis angle range is 0~60,
* 0.1 degree each LSB */
uint16_t oaxis;
/* round-axis angle range is 0~360,
* 0.1 degree each LSB */
uint16_t raxis;
uint16_t oaxis; ///< off-axis angle range is 0~60
/// 0.1 degree each LSB
uint16_t raxis; ///< round-axis angle range is 0~360
/// 0.1 degree each LSB
} PHY_ANT_ANGLE;
/**
* @enum PHY_TIME_WORD_TYPE
*/
typedef enum
{
PHY_TIME_WORD_NONE = 0,
@@ -142,6 +139,9 @@ typedef enum
PHY_TIME_WORD_LISTEN_TIMEOUT = 2
} PHY_TIME_WORD_TYPE;
/**
* @enum PHY_ANT_BEAM_WIDTH
*/
typedef enum
{
PHY_ANT_BEAM_NONE = 0,
@@ -151,6 +151,9 @@ typedef enum
PHY_ANT_BEAM_16 = 4
} PHY_ANT_BEAM_WIDTH;
/**
* @enum PHY_TOR_TYPE
*/
typedef enum
{
PHY_TOR_SUSPEND = 0,
@@ -158,6 +161,9 @@ typedef enum
PHY_TOR_RX = 2
} PHY_TOR_TYPE;
/**
* @enum PHY_MODE
*/
typedef enum
{
PHY_MODE_NONE = 0,
@@ -166,6 +172,9 @@ typedef enum
PHY_MODE_PULL = 3
} PHY_MODE;
/**
* @enum PHY_ANT_MODE
*/
typedef enum
{
PHY_ANT_MODE_NONE = 0,
@@ -174,23 +183,10 @@ typedef enum
PHY_ANT_MODE_POWER_FULL = 3,
} PHY_ANT_MODE;
typedef struct
{
uint32_t devId;
uint32_t txBramId;
uint32_t rxBramId;
uint32_t antBramId;
uint32_t antInfoBramId;
uint32_t hwXadcId;
uintptr_t baseAddr;
#ifndef EMULATION
uint8_t (*get_clk_state)(void);
uint8_t (*get_ad_lock_state)(void);
int8_t (*get_ad0_temp)(void);
int8_t (*get_ad1_temp)(void);
#endif
} PHY_CONFIG;
/**
* @struct PHY_RCD
* @brief Physical Layer recode buffer
*/
typedef struct
{
int32_t last;
@@ -198,84 +194,100 @@ typedef struct
int32_t next;
} PHY_RCD;
/**
* @struct PHY_CONFIG
* @brief struct holds all physical layer initialization parameters
*/
typedef struct
{
PHY_CONFIG phyCofig; // Device address configs
uintptr_t recvDataAddr;
uintptr_t sendDataAddr;
uintptr_t antConfigAddr;
uintptr_t antInfoAddr;
bool isPhyEn; // if physical layer running
bool isAcq; // if last reception acquisition success
bool isFrameSync; // if last reception frame sync success
bool isDecode; // if last reception decode success
bool isValid; // if last reception frame data valid (crc check pass)
bool isPresetHop; // if using preset frequency hop
TIME_WORD recvSlotTime; // last slot start time stamp
TIME_WORD recvFsTime; // last frame sync time stamp
PHY_RCD antNo; // antenna number record
PHY_RCD beamNo; // beam number record
PHY_RCD beamWd; // beam width record
PHY_RCD tor; // tx rx state record
PHY_RCD frameType; // frame type record
uint32_t sendDataOffset; // antenna configuration bram offset (to implement ping-pong data flow)
uint32_t antConfigOffset; // antenna configuration bram offset (to implement ping-pong data flow)
PHY_ANT_CONFIG antConfig; // antenna configuration pointer
uint32_t devId; ///< device ID
uint32_t txBramId; ///< tx bram ID
uint32_t rxBramId; ///< rx bram ID
uint32_t antBramId; ///< antenna config bram ID
uint32_t antInfoBramId; ///< antenna beam info bram ID
uint32_t hwXadcId; ///< hardware xadc device ID
uintptr_t baseAddr; ///< Physical layer controller base address
#ifndef EMULATION
XAdcPs hwXadc;
uint8_t (*get_clk_state)(void); ///< function handle returns hardware clock state
uint8_t (*get_ad_lock_state)(void); ///< function handle returns adc lock state
int8_t (*get_ad0_temp)(void); ///< function handle returns adc0 temperature state
int8_t (*get_ad1_temp)(void); ///< function handle returns adc1 temperature state
#endif
PHY_ANT_ANGLE antNrrwPattern[L1_NUM_ANT_NRRW_PATTERN];
HWSTATE hwSate;
PHYLOG phyLog;
} PHY_CONFIG;
/**
* @struct PHY_INST
* @brief Physical Layer operating instance
*/
typedef struct
{
PHY_CONFIG phyCofig; ///< physical layer configuration parameters
uintptr_t recvDataAddr; ///< receive data bram address
uintptr_t sendDataAddr; ///< send data bram address
uintptr_t antConfigAddr; ///< antenna config data bram address
uintptr_t antInfoAddr; ///< antenna beam info data bram address
bool isPhyEn; ///< indicates if physical layer running
bool isAcq; ///< indicates if last reception acquisition success
bool isFrameSync; ///< indicates if last reception frame sync success
bool isDecode; ///< indicates if last reception decode success
bool isValid; ///< indicates if last reception frame data valid (crc check pass)
TIME_WORD recvSlotTime; ///< last slot start time stamp
TIME_WORD recvFsTime; ///< last frame sync time stamp
PHY_RCD beamNo; ///< beam number record
PHY_RCD beamWd; ///< beam width record
PHY_RCD tor; ///< tx rx state record
PHY_RCD frameType; ///< frame type record
uint32_t sendDataOffset; ///< antenna configuration bram offset (to implement ping-pong data flow)
uint32_t antConfigOffset; ///< antenna configuration bram offset (to implement ping-pong data flow)
PHY_ANT_CONFIG antConfig; ///< antenna configuration pointer
#ifndef EMULATION
XAdcPs hwXadc; ///< hardware Xadc instance
#endif
PHY_ANT_ANGLE antNrrwPattern[L1_NUM_ANT_NRRW_PATTERN]; ///< antenna beam scan pattern
HWSTATE hwSate; ///< hardware state log
PHYLOG phyLog; ///< physical state log
uint32_t lastLogTime; /// physical state log time stamp
} PHY_INST;
/************************** Variable Definitions *****************************/
extern uint16_t hopPattern_Config[L1_FRAME_MAX_HOPS];
extern uint16_t hopPattern_2KBPS_20MS[L1_FRAME_2KBPS_20MS_HOPS];
extern uint16_t hopPattern_2KBPS_100MS[L1_FRAME_2KBPS_100MS_HOPS];
extern uint16_t hopPattern_10KBPS_10MS[L1_FRAME_10KBPS_10MS_HOPS];
extern uint16_t hopPattern_10KBPS_20MS[L1_FRAME_10KBPS_20MS_HOPS];
extern uint16_t hopPattern_40KBPS_10MS[L1_FRAME_40KBPS_10MS_HOPS];
extern uint16_t hopPattern_40KBPS_20MS[L1_FRAME_40KBPS_20MS_HOPS];
extern uint16_t hopPattern_200KBPS_5MS[L1_FRAME_200KBPS_5MS_HOPS];
extern uint16_t hopPattern_1M2BPS_5MS[L1_FRAME_1M2BPS_5MS_HOPS];
/************************** Function Prototypes ******************************/
int32_t Phy_InstInit(PHY_INST **instPtr, PHY_CONFIG *phyConfig);
/**
* @defgroup PhysicalLayer_Main
* @{
*/
int32_t Phy_Init(PHY_INST **instPtr, PHY_CONFIG *phyConfig);
void Phy_Destroy(PHY_INST *instPtr);
void Phy_UpdateState(PHY_INST *instPtr);
void Phy_RefreshHwSate(PHY_INST *instPtr);
void Phy_Start(PHY_INST *instPtr);
void Phy_Halt(PHY_INST *instPtr);
int32_t Phy_SetMode(PHY_INST *instPtr, PHY_MODE modeCod);
int32_t Phy_SetMode(PHY_INST *instPtr, PHY_MODE modeCod);
int32_t Phy_SetTimeWord(PHY_INST *instPtr, const TIME_WORD *tmWord, PHY_TIME_WORD_TYPE tmType);
int32_t Phy_SetupNextSlot(PHY_INST *instPtr, PHY_TOR_TYPE txrxMode, L1_FRAME_TYPE frameType, uint8_t *dataBuff);
void Phy_UpdateState(PHY_INST *instPtr);
void Phy_PeekRecvData(PHY_INST *instPtr, uint8_t *dataBuff);
void Phy_RetrieveRecvData(PHY_INST *instPtr, uint8_t *dataBuff);
void Phy_UpdateLogging(PHY_INST *instPtr);
void Phy_RefreshHwSate(PHY_INST *instPtr);
/** @} PhysicalLayer_Main*/
/**
* @defgroup PhysicalLayer_Utility
* @{
*/
bool Phy_IsFrameDetected(PHY_INST *instPtr);
bool Phy_IsFrameReceived(PHY_INST *instPtr);
bool Phy_IsFrameValid(PHY_INST *instPtr);
uint32_t Phy_GetFrameLen(L1_FRAME_TYPE frameType);
L1_FRAME_TYPE Phy_GetLastRecvFrameType(PHY_INST *instPtr);
L1_FRAME_TYPE Phy_GetLastSendFrameType(PHY_INST *instPtr);
int32_t Phy_SetHopPattern(void *patternBuff, uint32_t patternLen);
uint32_t Phy_GetHopLength(L1_FRAME_TYPE frameType);
uint32_t Phy_GetTimeComp(L1_FRAME_TYPE frameType);
L1_FRAME_TYPE Phy_GetLastRecvFrameType(PHY_INST *instPtr);
L1_FRAME_TYPE Phy_GetLastSendFrameType(PHY_INST *instPtr);
/** @} PhysicalLayer_Utility*/
void Phy_AntConfigInit(PHY_ANT_CONFIG *antConfig);
void Phy_AntConfigMode(PHY_INST *instPtr, PHY_ANT_MODE mode);
void Phy_SetBeamTable(PHY_INST *instPtr, PHY_ANT_ANGLE *table, uint32_t offset);
int32_t Phy_SetBeamWidth(PHY_INST *instPtr, PHY_ANT_BEAM_WIDTH beamWidth);
int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth);
int32_t Phy_SetBeamAngle(PHY_INST *phyInstPtr, double offAx, double rndAx);
int32_t Phy_SetTimeWord(PHY_INST *instPtr, const TIME_WORD *tmWord, PHY_TIME_WORD_TYPE tmType);
/**
* @defgroup PhysicalLayer_Receive_Estimations
* @{
*/
uint8_t Phy_LastScanBeamNo(PHY_INST *instPtr);
double Phy_GetFreqEst(PHY_INST *instPtr);
double Phy_GetCoarseFreqEst(PHY_INST *instPtr);
@@ -284,4 +296,20 @@ void Phy_GetFrameSyncTimeStamp(PHY_INST *instPtr, TIME_WORD *frameSyncT);
void Phy_GetLastReceivedFrameSyncTimeStamp(PHY_INST *instPtr, TIME_WORD *frameSyncT);
void Phy_GetSlotStartTimeStamp(PHY_INST *instPtr, TIME_WORD *slotStart);
void Phy_GetLastReceivedSlotStartTimeStamp(PHY_INST *instPtr, TIME_WORD *slotStart);
#endif // PHY_CTRL_H_
/** @} PhysicalLayer_Receive_Estimations*/
/**
* @defgroup PhysicalLayer_AntennaControl
* @{
*/
void Phy_AntConfigInit(PHY_ANT_CONFIG *antConfig);
void Phy_AntConfigMode(PHY_INST *instPtr, PHY_ANT_MODE mode);
void Phy_SetBeamTable(PHY_INST *instPtr, PHY_ANT_ANGLE *table, uint32_t offset);
int32_t Phy_SetBeamWidth(PHY_INST *instPtr, PHY_ANT_BEAM_WIDTH beamWidth);
int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth);
int32_t Phy_SetBeamAngle(PHY_INST *phyInstPtr, double offAx, double rndAx);
/** @} PhysicalLayer_AntennaControl*/
#endif // PHY_CTRL_H_
/** @} PhysicalLayer*/
df_datalink_sp/src/networking/phy_layer/phy_reg.h
+19 -15
View File
@@ -1,24 +1,24 @@
/*****************************************************************************/
/**
* Description: Physical layer register definitions
* @file phy_layer.h
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief Physical layer controller register definition
* @version 0.0
* @date 2023-04-24
*
* Author: Fan Hao
* Date: 2021-11-16 00:08
* LastEditors: Fan Hao
* LastEditTime: 2023-04-24 17:32
* Revisions: Rev 0.1
* History:
* [2021-11-16]: Initial version.
* [2022-06-18]: New branch for glink control purpose:
* -Add poll mode physical layer will start Tx/Rx procedure
* at specific time stamp.
* [2023-04-24]: Porting for DUIFEI.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @defgroup PhysicalLayer
* @{
*/
/**
* @name PhysicalLayer_REG_Constants
* @{
*/
#ifndef PHY_REG_H_
#define PHY_REG_H_
@@ -491,3 +491,7 @@
#define PHY_DEINTLV_AMPEST_MASK 0x0000FFFFU
#endif /* PHY_REG_H_ */
/** @} PhysicalLayer_REG_Constants*/
/** @} PhysicalLayer*/
df_datalink_sp/src/system_monitor.c
+144 -33
View File
@@ -1,9 +1,19 @@
/**
* @addtogroup SystemMonitor
* @{
*/
/***************************** Include Files *********************************/
#include <string.h>
#include <stdlib.h>
#include <stdint.h>
#include "common.h"
#include "system_monitor.h"
/************************** Constant Definitions *****************************/
/**
* @name SystemMonitor_Private_Constants
* @{
*/
#define BUFF_A 0x00
#define BUFF_B 0x01
#define BUFF_NONE 0xFF
@@ -13,14 +23,23 @@
#define SLOTLOG_PACK_LEN 88 // bytes
#define PRTCLLOG_PACK_ELN 24 // bytes
#define HWSTATE_PACK_ELN 12 // bytes
/** @} SystemMonitor_Private_Constants*/
/************************** Data Type Definitions ****************************/
/**
* @struct PINGPONG
* @brief PingPing Control
*/
typedef struct
{
uint8_t latest;
uint8_t rBusy;
uint8_t wBusy;
uint8_t latest; ///< latest available index
uint8_t rBusy; ///< current read busy index
uint8_t wBusy; ///< current write busy index
} PINGPONG;
/**
* @struct SYSMONITOR
* @brief System Monitor struct holds all the system log info
*/
typedef struct
{
PINGPONG recvCtrl;
@@ -37,12 +56,14 @@ typedef struct
HWSTATE hwState[2];
} SYSMONITOR;
/************************** Function Prototypes ******************************/
static uint8_t GetWritable(PINGPONG ctrllor);
static uint8_t GetReadable(PINGPONG ctrllor);
/************************** Variable Definitions *****************************/
static SYSMONITOR *sysMonitorInst;
uint8_t GetWritable(PINGPONG ctrllor);
uint8_t GetReadable(PINGPONG ctrllor);
inline uint8_t GetWritable(PINGPONG ctrllor)
/*********************** Function Implementations ***************************/
inline static uint8_t GetWritable(PINGPONG ctrllor)
{
// Allow only one write.
ASSERT(ctrllor.wBusy == BUFF_NONE);
@@ -52,7 +73,7 @@ inline uint8_t GetWritable(PINGPONG ctrllor)
return ((ctrllor.rBusy == BUFF_B) ? BUFF_A : BUFF_B);
}
inline uint8_t GetReadable(PINGPONG ctrllor)
inline static uint8_t GetReadable(PINGPONG ctrllor)
{
if (ctrllor.wBusy == BUFF_NONE || ctrllor.wBusy != ctrllor.latest)
return ((ctrllor.latest == BUFF_NONE) ? BUFF_A : BUFF_B);
@@ -60,7 +81,11 @@ inline uint8_t GetReadable(PINGPONG ctrllor)
return ((ctrllor.wBusy == BUFF_B) ? BUFF_A : BUFF_B);
}
// System monitor initialise
/**
* @brief Initialize System monitor
*
* @return SUCCESS
*/
int32_t SysMonitor_Init(void)
{
sysMonitorInst = calloc(1, sizeof(SYSMONITOR));
@@ -82,15 +107,23 @@ int32_t SysMonitor_Init(void)
return SUCCESS;
}
// System monitor initialise
/**
* @brief Destroy system monitor release all allocated memory
*/
void SysMonitor_Destroy(void)
{
free(sysMonitorInst);
}
// @System Info
/**
* Update system info.
* @name SystemInfo_API
* @{
*/
/**
* @brief Update system info.
*
* @param info
*/
void SysMonitor_UpdateSysinfo(const SYSINFO *info)
{
@@ -103,7 +136,9 @@ void SysMonitor_UpdateSysinfo(const SYSINFO *info)
}
/**
* Get system info.
* @brief Get system info.
*
* @param info
*/
void SysMonitor_GetSysinfo(SYSINFO *info)
{
@@ -118,14 +153,26 @@ void SysMonitor_GetSysinfo(SYSINFO *info)
memcpy(info, &(sysMonitorInst->sysInfo[buffIndx]), sizeof(SYSINFO));
sysMonitorInst->sysInfoCtrl.rBusy = buffIndex_old;
}
/** @} SystemInfo_API*/
// @Send Payload
/**
* Update send payload by.
* @name ServicePayload_API
* @{
*/
/**
* @brief Update send payload by
*
* @param buff
* @param len
*/
void SysMonitor_UpdateSendPayload(const uint8_t *buff, size_t len)
{
ASSERT(sysMonitorInst != NULL);
if (len > PAYLOAD_LEN_MAX)
{
return;
}
uint8_t buffIndx;
buffIndx = GetWritable(sysMonitorInst->sendCtrl);
sysMonitorInst->sendCtrl.wBusy = buffIndx;
@@ -136,11 +183,21 @@ void SysMonitor_UpdateSendPayload(const uint8_t *buff, size_t len)
}
/**
* Get the latest send payload.
* @brief Get the latest send payload.
*
* @param buff
* @param id
* @param len
*/
void SysMonitor_GetSendPayload(uint8_t *buff, uint32_t *id, size_t len)
{
ASSERT(sysMonitorInst != NULL);
ASSERT(buff != NULL);
ASSERT(id != NULL);
if (len > PAYLOAD_LEN_MAX)
{
return;
}
uint8_t buffIndx, buffIndex_old;
buffIndex_old = sysMonitorInst->sendCtrl.rBusy;
if (buffIndex_old != BUFF_NONE)
@@ -156,28 +213,46 @@ void SysMonitor_GetSendPayload(uint8_t *buff, uint32_t *id, size_t len)
sysMonitorInst->sendCtrl.rBusy = buffIndex_old;
}
// @Receive Payload
/**
* Update receive payload.
* @brief Update receive payload.
*
* @param buff
* @param id
* @param len
*/
void SysMonitor_UpdateRecvPayload(const uint8_t *buff, size_t len)
void SysMonitor_UpdateRecvPayload(const uint8_t *buff, uint32_t id, size_t len)
{
ASSERT(sysMonitorInst != NULL);
ASSERT(buff != NULL);
if (id == DATA_ID_NONE || len > PAYLOAD_LEN_MAX)
{
return;
}
uint8_t buffIndx;
buffIndx = GetWritable(sysMonitorInst->recvCtrl);
sysMonitorInst->recvCtrl.wBusy = buffIndx;
memcpy(sysMonitorInst->recv[buffIndx].data, buff, len);
sysMonitorInst->recv[buffIndx].dataId++;
sysMonitorInst->recv[buffIndx].dataId = id;
sysMonitorInst->recvCtrl.latest = buffIndx;
sysMonitorInst->recvCtrl.wBusy = BUFF_NONE;
}
/**
* Get the latest receive payload.
* @brief Get the latest receive payload.
*
* @param buff
* @param id
* @param len
*/
void SysMonitor_GetRecvPayload(uint8_t *buff, uint32_t *id, size_t len)
{
ASSERT(sysMonitorInst != NULL);
ASSERT(buff != NULL);
ASSERT(id != NULL);
if (len > PAYLOAD_LEN_MAX)
{
return;
}
uint8_t buffIndx, buffIndex_old;
buffIndex_old = sysMonitorInst->recvCtrl.rBusy;
if (buffIndex_old != BUFF_NONE)
@@ -192,14 +267,22 @@ void SysMonitor_GetRecvPayload(uint8_t *buff, uint32_t *id, size_t len)
*id = sysMonitorInst->recv[buffIndx].dataId;
sysMonitorInst->recvCtrl.rBusy = buffIndex_old;
}
/** @} ServicePayload_API*/
// @Link layer log
/**
* Update link layer log
* @name Linklayer_Log_API
* @{
*/
/**
* @brief Update link layer log
*
* @param log
*/
void SysMonitor_UpdateLinklayerLog(const LINKLOG *log)
{
ASSERT(sysMonitorInst != NULL);
ASSERT(log != NULL);
uint8_t buffIndx;
buffIndx = GetWritable(sysMonitorInst->linkLogCtrl);
sysMonitorInst->linkLogCtrl.wBusy = buffIndx;
@@ -209,11 +292,14 @@ void SysMonitor_UpdateLinklayerLog(const LINKLOG *log)
}
/**
* Get the latest link layer log
* @brief Get the latest link layer log
*
* @param log
*/
void SysMonitor_GetLinklayerLog(LINKLOG *log)
{
ASSERT(sysMonitorInst != NULL);
ASSERT(log != NULL);
uint8_t buffIndx, buffIndex_old;
buffIndex_old = sysMonitorInst->linkLogCtrl.rBusy;
if (buffIndex_old != BUFF_NONE)
@@ -224,14 +310,22 @@ void SysMonitor_GetLinklayerLog(LINKLOG *log)
memcpy(log, &(sysMonitorInst->linkLog[buffIndx]), sizeof(LINKLOG));
sysMonitorInst->linkLogCtrl.rBusy = buffIndex_old;
}
/** @} Linklayer_Log_API*/
// @Physical layer log
/**
* Update physical layer log
* @name PhysicalLayer_Log_API
* @{
*/
/**
* @brief Update physical layer log
*
* @param log
*/
void SysMonitor_UpdatePhysicalLayerLog(const PHYLOG *log)
{
ASSERT(sysMonitorInst != NULL);
ASSERT(log != NULL);
uint8_t buffIndx;
buffIndx = GetWritable(sysMonitorInst->phyLogCtrl);
sysMonitorInst->phyLogCtrl.wBusy = buffIndx;
@@ -241,11 +335,14 @@ void SysMonitor_UpdatePhysicalLayerLog(const PHYLOG *log)
}
/**
* Get the latest physical layer log
* @brief Get the latest physical layer log
*
* @param log
*/
void SysMonitor_GetPhysicalLayerLog(PHYLOG *log)
{
ASSERT(sysMonitorInst != NULL);
ASSERT(log != NULL);
uint8_t buffIndx, buffIndex_old;
buffIndex_old = sysMonitorInst->phyLogCtrl.rBusy;
if (buffIndex_old != BUFF_NONE)
@@ -256,15 +353,22 @@ void SysMonitor_GetPhysicalLayerLog(PHYLOG *log)
memcpy(log, &(sysMonitorInst->phyLog[buffIndx]), sizeof(PHYLOG));
sysMonitorInst->phyLogCtrl.rBusy = buffIndex_old;
}
/** @} */
// @Hardware state
/**
* Log hardware running status.
* @name HardwareState_Log_API
* @{
*/
/**
* @brief Log hardware running status.
*
* @param state
*/
void SysMonitor_UpdateHardwareStatus(const HWSTATE *state)
{
ASSERT(sysMonitorInst != NULL);
ASSERT(state != NULL);
uint8_t buffIndx;
buffIndx = GetWritable(sysMonitorInst->hwStateCtrl);
sysMonitorInst->hwStateCtrl.wBusy = buffIndx;
@@ -274,11 +378,14 @@ void SysMonitor_UpdateHardwareStatus(const HWSTATE *state)
}
/**
* Get the latest hardware running status.
* @brief Get the latest hardware running status.
*
* @param state
*/
void SysMonitor_GetHardwareStatus(HWSTATE *state)
{
ASSERT(sysMonitorInst != NULL);
ASSERT(state != NULL);
uint8_t buffIndx, buffIndex_old;
buffIndex_old = sysMonitorInst->hwStateCtrl.rBusy;
if (buffIndex_old != BUFF_NONE)
@@ -289,3 +396,7 @@ void SysMonitor_GetHardwareStatus(HWSTATE *state)
memcpy(state, &(sysMonitorInst->hwState[buffIndx]), sizeof(HWSTATE));
sysMonitorInst->hwStateCtrl.rBusy = buffIndex_old;
}
/** @} HardwareState_Log_API */
/** @} SystemMonitor*/
df_datalink_sp/src/system_monitor.h
+134 -97
View File
@@ -1,10 +1,21 @@
/**
* @defgroup SystemMonitor
* @{
*/
#ifndef __SYSTEM_MONITOR_H_
#define __SYSTEM_MONITOR_H_
/***************************** Include Files *********************************/
#include <stdint.h>
#include <stdbool.h>
#include "util.h"
/************************* Constant Definitions ******************************/
/**
* @name SystemMonitor_Constants
* @{
*/
#define PAYLOAD_LEN_MAX 256
#define PAYLOAD_LEN_FLJ_RX 168
#define PAYLOAD_LEN_FLJ_TX 66
@@ -36,12 +47,19 @@
#define VOLT_ANT_NIL_OK BIT(4)
#define ANT_STATE_OK BIT(6)
// Xilinx Recommended
// #define IS_PS_VALID(x) (x <= 1.05 && x >= 0.95)
// #define IS_PSAUX_VALID(x) (x <= 1.89 && x >= 1.71)
// #define IS_DDR_VALID(x) (x <= 1.89 && x >= 1.14)
// #define IS_PL_VALID(x) (x <= 1.03 && x >= 0.97)
// #define IS_PLAUX_VALID(x) (x <= 1.89 && x >= 1.71)
// #define IS_BRAM_VALID(x) (x <= 1.03 && x >= 0.97)
#define IS_PS_VALID(x) (x <= 1.05 && x >= 0.95)
#define IS_PSAUX_VALID(x) (x <= 1.89 && x >= 1.71)
#define IS_DDR_VALID(x) (x <= 1.89 && x >= 1.14)
#define IS_PL_VALID(x) (x <= 1.03 && x >= 0.97)
#define IS_PL_VALID(x) (x <= 1.03 && x >= 0.96)
#define IS_PLAUX_VALID(x) (x <= 1.89 && x >= 1.71)
#define IS_BRAM_VALID(x) (x <= 1.03 && x >= 0.97)
#define IS_BRAM_VALID(x) (x <= 1.03 && x >= 0.96)
#define CLK_SP_PLL0_LOCK BIT(0)
#define CLK_SP_PLL1_LOCK BIT(2)
@@ -58,131 +76,148 @@
#define TEMPERATURE_LSB 1.0 // Celsius degree
#define TEMPERATURE_MAX 127.0 // Celsius degree
#define TEMPERATURE_MIN -128.0 // Celsius degree
/** @} SystemMonitor_Constants */
/************************* Data Type Definitions ****************************/
/**
* @struct SYSINFO
* @brief System Infomation log
*/
typedef struct __attribute__((packed))
{
// -- unit: ms, 0~604799999
uint32_t psBDS;
// -- unit: week, 0~0~8191
uint16_t pBDS;
// -- unit: ms, 0~604799999
uint32_t psGPS;
// -- unit: week, 0~0~8191
uint16_t pGPS;
// Time validation indicator
// -- [0] GPS
// -- [1] reserve.
// -- [2] UTC
// -- [3] BDS
uint8_t tmInd;
// Time of flying
// uint: s
float tmFly;
// Status of flying
// [7:6] departure status 11 - departed/00 - not departed
// [5:4] ready status 11 - ready/00 - not ready
// [3:2] attitude status 11 - attitude ok/00 - attitude not ok
// [1:0] attitude adjust status 11 - adjusted/00 - not adjusted
uint8_t stFly;
// Position in launch coordinate system
float posX;
float posY;
float posZ;
// Speed in launch coordinate system
float vX;
float vY;
float vZ;
// Attitude in launch inertia coordinate system
float pitch;
float yaw;
float roll;
uint32_t psBDS; ///< -- unit: ms, 0~604799999
uint16_t pBDS; ///< -- unit: week, 0~0~8191
uint32_t psGPS; ///< -- unit: ms, 0~604799999
uint16_t pGPS; ///< -- unit: week, 0~0~8191
uint8_t tmInd; ///< Time validation indicator \n
// -- [0] GPS\n
// -- [1] reserve.\n
// -- [2] UTC\n
// -- [3] BDS\n
float tmFly; ///< Time of flying uint: s
uint8_t stFly; ///< Status of flying \n
// [7:6] departure status 11 - departed/00 - not departed \n
// [5:4] ready status 11 - ready/00 - not ready \n
// [3:2] attitude status 11 - attitude ok/00 - attitude not ok \n
// [1:0] attitude adjust status 11 - adjusted/00 - not adjusted
float posX; ///< coord X Position in launch coordinate system
float posY; ///< coord Y Position in launch coordinate system
float posZ; ///< coord Z Position in launch coordinate system
float vX; ///< Speed X in launch coordinate system
float vY; ///< Speed Y in launch coordinate system
float vZ; ///< Speed Z in launch coordinate system
float pitch; ///< Pitch Attitude in launch inertia coordinate system
float yaw; ///< Yaw Attitude in launch inertia coordinate system
float roll; ///< Roll Attitude in launch inertia coordinate system
} SYSINFO;
/**
* @struct SYSBUSLOG
* @brief System Info holds the system bus log
*/
typedef struct __attribute__((packed))
{
// SystemBus log
// -- last valid config
// byte 0: 0x11 FLJ, 0x00 LJ
// byte 1: 0x66 Full Power, 0x88 Low Power
uint8_t lastConfig[2];
uint32_t pollCnt;
uint32_t svcCnt;
uint32_t remoteCnt;
uint8_t lastConfig[2]; ///< Last valid config \n
// byte 0: 0x11 FLJ, 0x00 LJ \n
// byte 1: 0x66 Full Power, 0x88 Low Power
uint32_t pollCnt; ///< number of poll commands
uint32_t svcCnt; ///< number of service commands
uint32_t remoteCnt; ///< number of remote check commands
} SYSBUSLOG;
/**
* @struct LINKLOG
* @brief Linklayer Log struct holds the Linklayer log
*/
typedef struct __attribute__((packed))
{
// Network log
uint32_t tuNum;
uint8_t slotNum;
uint8_t nodeType;
uint8_t cxnStatus;
uint8_t linkStage;
uint32_t recxnCnt;
uint8_t beamNo;
uint8_t beamWidth;
uint16_t beamAz;
uint16_t beamEl;
uint16_t advTxCnt;
uint16_t advRecvCnt;
uint16_t advCorrectCnt;
uint32_t cfmTxCnt;
uint32_t cfmRecvCnt;
uint32_t cfmCorrectCnt;
uint32_t svcTxCnt;
uint32_t svcRecvCnt;
uint32_t svcCorrectCnt;
int32_t timeDev;
uint32_t sendId;
uint32_t recvId;
uint8_t reserve[4];
uint32_t tuNum; ///< current time unite number
uint8_t slotNum; ///< current slot number
uint8_t nodeType; ///< current node type
uint8_t cxnStatus; ///< current connection status
uint8_t linkStage; ///< current linklayer working stage
uint32_t recxnCnt; ///< reconnect trial count
uint8_t beamNo; ///< current working beam number
uint8_t beamWidth; ///< current working beam width
uint16_t beamAz; ///< current working beam angle Az
uint16_t beamEl; ///< current working beam angle Ez
uint16_t advTxCnt; ///< adv frame send count
uint16_t advRecvCnt; ///< adv frame received count
uint16_t advCorrectCnt; ///< adv frame received correctly count
uint32_t cfmTxCnt; ///< cfm frame send count
uint32_t cfmRecvCnt; ///< cfm frame received count
uint32_t cfmCorrectCnt; ///< adv frame received correctly count
uint32_t svcTxCnt; ///< svc frame send count
uint32_t svcRecvCnt; ///< svc frame received count
uint32_t svcCorrectCnt; ///< svc frame received correctly count
int32_t timeDev; ///< last time deviation result
uint32_t sendId; ///< last send data id
uint32_t recvId; ///< last received data id
uint8_t reserve[4]; ///< reserved data
} LINKLOG;
/**
* @struct PHYLOG
* @brief Physical Layer Log struct holds the Linklayer log
*/
typedef struct __attribute__((packed))
{
uint32_t acqCnt;
uint32_t fsyncCnt;
uint32_t decodeCnt;
uint32_t crcCnt;
double doppler;
uint64_t recvStamp;
double acqPAPR;
uint8_t acqPhase;
uint8_t acqFreqCh;
double fsyncPAPR;
uint8_t fsyncFreqCh;
uint16_t deintlvAmpEst;
uint8_t antMode;
uint8_t reserve[3];
uint32_t acqCnt; ///< aquisition count
uint32_t fsyncCnt; ///< frame sync count
uint32_t decodeCnt; ///< decode count
uint32_t crcCnt; ///< crc valid count
double doppler; ///< last doppler estimation result
uint64_t recvStamp; ///< last frame arrival time
double acqPAPR; ///< last acquisition peak-average ration
uint8_t acqPhase; ///< last acquisition phase estimation
uint8_t acqFreqCh; ///< last acquisition frequency deviation estimation
double fsyncPAPR; ///< last frame sync peak-average ration
uint8_t fsyncFreqCh; ///< last frame sync frequency estimation
uint16_t deintlvAmpEst; ///< de-interleave amplitude estimation
uint8_t antMode; ///< current antenna working mode
uint8_t reserve[3]; ///< reserved data
} PHYLOG;
/**
* @struct HWSTATE
* @brief Hardware Status Log struct holds all hardware status
*/
typedef struct __attribute__((packed))
{
// Hardware status
bool isSpOk;
bool isAntOk;
bool isSpOk; ///< signal processor state
bool isAntOk; ///< antenna state
// -- Signal processor status
uint8_t spFpgaVolt;
uint8_t spClkState;
uint8_t spAdLockState;
uint8_t spAdTemp_0;
uint8_t spAdTemp_1;
uint8_t spFpgaTemp;
uint8_t spFpgaVolt; ///< Signal processor voltage state indicator
uint8_t spClkState; ///< Signal processor clock state indicator
uint8_t spAdLockState; ///< Signal processor adc lock state indicator
uint8_t spAdTemp_0; ///< Signal processor adc0 temperature
uint8_t spAdTemp_1; ///< Signal processor adc1 temperature
uint8_t spFpgaTemp; ///< Signal processor FPGA temperature
// -- Antenna status
uint8_t antVolt;
uint8_t antTemp;
uint8_t antPll;
uint8_t antMgc0;
uint8_t antMgc1;
uint8_t reserve[2];
uint8_t antVolt; ///< Antenna voltage state indicator
uint8_t antTemp; ///< Antenna rf temperature
uint8_t antPll; ///< Antenna rf lock state indicator
uint8_t antMgc0; ///< Antenna rf mgc0~1 indicator
uint8_t antMgc1; ///< Antenna rf mgc2~3 indicator
uint8_t phyId;
uint8_t reserve[1];
} HWSTATE;
/**
* @struct PAYLOAD
* @brief Payload struct holds the service payload
*/
typedef struct
{
uint32_t dataId;
uint8_t data[PAYLOAD_LEN_MAX];
} PAYLOAD;
/************************** Function Prototypes ******************************/
int32_t SysMonitor_Init(void);
void SysMonitor_Destroy(void);
@@ -190,7 +225,7 @@ void SysMonitor_UpdateSysinfo(const SYSINFO *info);
void SysMonitor_GetSysinfo(SYSINFO *info);
void SysMonitor_UpdateSendPayload(const uint8_t *buff, size_t len);
void SysMonitor_UpdateRecvPayload(const uint8_t *buff, size_t len);
void SysMonitor_UpdateRecvPayload(const uint8_t *buff, uint32_t id, size_t len);
void SysMonitor_GetSendPayload(uint8_t *buff, uint32_t *id, size_t len);
void SysMonitor_GetRecvPayload(uint8_t *buff, uint32_t *id, size_t len);
@@ -202,3 +237,5 @@ void SysMonitor_GetPhysicalLayerLog(PHYLOG *log);
void SysMonitor_GetHardwareStatus(HWSTATE *state);
#endif //__SYSTEM_MONITOR_H_
/** @} */
df_datalink_sp/src/systembus/systembus.c
+128 -115
View File
@@ -1,22 +1,22 @@
/*****************************************************************************/
/**
* Description: System bus protocol implementation file.
* @file systembus.c
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief System bus protocol implementation file.
* @version 0.1
* @date 2023-05-06
*
* Date: 2023-05-06 10:13
* Last Edit Time: [2023-05-06 21:45]
*
* Revisions: Rev 0.0
* History:
* [2023-05-06]: Initial version.
* [2023-09-13]: Update to 485 protocol-20220816
*
* Copyright(c) 2021 Beijing Institute of Technology.
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/***************************** Include Files *********************************/
/**
* @addtogroup SystemBus
* @{
*/
/***************************** Include Files *********************************/
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
@@ -27,10 +27,18 @@
#include "common.h"
#include "error.h"
#include "circ_queue.h"
#include "../system_monitor.h"
/**
* @addtogroup SystemBus_Protocol_Routine
* @{
*/
/************************** Constant Definitions *****************************/
/**
* @name SystemBus_MSG_Constants
* @{
*/
// Common Field
// -- Command word
#define WD_CMD 0x00
@@ -190,10 +198,9 @@
#define LJ_RM_TEST_RESP_LEN 158
// My Production Type
#define MY_PRD_ID PRD_DL_K
/** @} SystemBus_MSG_Constants*/
/************************** Function Prototypes ******************************/
static int32_t SystemBus_GenSelfTestRsp(SYSBUS *instPtr);
static int32_t SystemBus_SystemConfig(SYSBUS *instPtr, uint8_t *msg);
@@ -238,7 +245,8 @@ static int32_t SystemBus_GenSelfTestRsp(SYSBUS *instPtr)
{
ASSERT(instPtr != NULL);
SYSBUS_UART_FRAME *sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
if (sysbusRsp == NULL) {
if (sysbusRsp == NULL)
{
DBG_ERROR("Failed to allocate memory for SELF TEST Response!\n");
return ENOMEM;
}
@@ -248,13 +256,13 @@ static int32_t SystemBus_GenSelfTestRsp(SYSBUS *instPtr)
sysbusRsp->data[WD_CMD] = CMD_SELF_TEST;
sysbusRsp->data[WD_PRD] = MY_PRD_ID;
SysMonitor_GetHardwareStatus(hwStatsPtr);
if (linkInstPtr->isEnable == false)
if (L2_isStarted(linkInstPtr))
{
sysbusRsp->data[WD_ST_RET] = (hwStatsPtr->isSpOk) ? ST_RET_OK : ST_RET_ERROR;
sysbusRsp->data[WD_ST_RET] = (hwStatsPtr->isSpOk && hwStatsPtr->isAntOk) ? ST_RET_OK : ST_RET_ERROR;
}
else
{
sysbusRsp->data[WD_ST_RET] = (hwStatsPtr->isSpOk && hwStatsPtr->isAntOk) ? ST_RET_OK : ST_RET_ERROR;
sysbusRsp->data[WD_ST_RET] = (hwStatsPtr->isSpOk) ? ST_RET_OK : ST_RET_ERROR;
}
// apply status and omit 2 bytes of overhead.
memcpy(sysbusRsp->data + WD_SP_FPGA_VOLT, &(hwStatsPtr->spFpgaVolt), ST_RET_INFO_LEN);
@@ -278,56 +286,54 @@ static int32_t SystemBus_SystemConfig(SYSBUS *instPtr, uint8_t *msg)
PHY_INST *phyRef = linkInstPtr->config.phyInstPtr;
TMC_INST *tmcRef = linkInstPtr->config.tmcInstPtr;
bool reconfig = false;
bool start = false;
if (msg[WD_MODE_CMD] == MODE_CMD_HEAD)
{
// omit unnecessary reconfiguration
if (L2_GetNodeType(linkInstPtr) != L2_NODE_HEAD)
{
// head node config
linkConfig.myType = L2_NODE_HEAD;
linkConfig.myId = 1;
reconfig = true;
}
// head node config
reconfig = (L2_NODE_HEAD != L2_GetNodeType(linkInstPtr));
linkConfig.myType = L2_NODE_HEAD;
linkConfig.myId = 1;
}
else if (msg[WD_MODE_CMD] == MODE_CMD_MEMBER )
else if (msg[WD_MODE_CMD] == MODE_CMD_MEMBER)
{
// omit unnecessary reconfiguration
if (L2_GetNodeType(linkInstPtr) != L2_NODE_MEMBER)
{
// member node config
linkConfig.myType = L2_NODE_MEMBER;
linkConfig.myId = 2;
reconfig = true;
}
// member node config
reconfig = (L2_NODE_MEMBER != L2_GetNodeType(linkInstPtr));
linkConfig.myType = L2_NODE_MEMBER;
linkConfig.myId = 2;
}
else
{
// Ignore current command
DBG_ERROR("Unexpected config command 0x%02X:0x%02X",
WD_MODE_CMD, msg[WD_MODE_CMD]);
WD_MODE_CMD, msg[WD_MODE_CMD]);
return EPARAM;
}
if(msg[WD_EN_CMD] == EN_CMD_ON_HIGH_POWER)
if (msg[WD_EN_CMD] == EN_CMD_ON_HIGH_POWER)
{
// high power config
// full power config
Phy_AntConfigMode(phyRef, PHY_ANT_MODE_POWER_FULL);
start = true;
if (reconfig || !L2_isStarted(linkInstPtr))
{
Linklayer_Reconfig(linkInstPtr, &linkConfig);
}
Linklayer_Start(linkInstPtr);
}
else if(msg[WD_EN_CMD] == EN_CMD_ON_LOW_POWER)
else if (msg[WD_EN_CMD] == EN_CMD_ON_LOW_POWER)
{
// low power config
Phy_AntConfigMode(phyRef, PHY_ANT_MODE_POWER_LOW);
start = true;
if (reconfig || !L2_isStarted(linkInstPtr))
{
Linklayer_Reconfig(linkInstPtr, &linkConfig);
}
Linklayer_Start(linkInstPtr);
}
else if(msg[WD_EN_CMD] == EN_CMD_SILENT)
else if (msg[WD_EN_CMD] == EN_CMD_SILENT)
{
// silence config
// TODO: better approach?
start = false;
Linklayer_Halt(linkInstPtr);
Phy_AntConfigMode(phyRef, PHY_ANT_MODE_STANDBY);
TIME_WORD pullTime = {0, 0};
@@ -338,13 +344,12 @@ static int32_t SystemBus_SystemConfig(SYSBUS *instPtr, uint8_t *msg)
}
Phy_SetupNextSlot(phyRef, PHY_TOR_RX, L1_10KBPS_10MS_FRAME, NULL);
}
if (reconfig == true)
else
{
Linklayer_Reconfig(linkInstPtr, &linkConfig);
}
if (start == true)
{
Linklayer_Start(linkInstPtr);
// Ignore current command
DBG_ERROR("Unexpected config command 0x%02X:0x%02X",
WD_EN_CMD, msg[WD_EN_CMD]);
return EIGNORE;
}
instPtr->sysbusLog.lastConfig[0] = msg[WD_MODE_CMD];
instPtr->sysbusLog.lastConfig[1] = msg[WD_EN_CMD];
@@ -359,7 +364,8 @@ static int32_t SystemBus_Echo(SYSBUS *instPtr, SYSBUS_UART_FRAME *frame)
ASSERT(instPtr != NULL);
ASSERT(frame != NULL);
SYSBUS_UART_FRAME *sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
if (sysbusRsp == NULL) {
if (sysbusRsp == NULL)
{
DBG_ERROR("Failed to allocate memory for DATA TEST A Response!\n");
return ENOMEM;
}
@@ -384,12 +390,13 @@ static int32_t SystemBus_GenPollRsp(SYSBUS *instPtr, uint8_t *msg)
size_t dataLen;
uint8_t *payload;
SYSBUS_UART_FRAME *sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
if (sysbusRsp == NULL) {
if (sysbusRsp == NULL)
{
DBG_ERROR("Failed to allocate memory for FLJ POLL Response!\n");
return ENOMEM;
}
if(msg[WD_CMD] == CMD_FLJ_POLL)
if (msg[WD_CMD] == CMD_FLJ_POLL)
{
sysbusRsp->len = FLJ_POLL_RESP_LEN;
sysbusRsp->data[WD_CMD] = CMD_FLJ_POLL;
@@ -397,7 +404,7 @@ static int32_t SystemBus_GenPollRsp(SYSBUS *instPtr, uint8_t *msg)
dataLen = PAYLOAD_LEN_FLJ_RX;
payload = sysbusRsp->data + FLJ_DATA_OFFSET;
}
else if(msg[WD_CMD] == CMD_LJ_POLL)
else if (msg[WD_CMD] == CMD_LJ_POLL)
{
sysbusRsp->len = LJ_POLL_RESP_LEN;
sysbusRsp->data[WD_CMD] = CMD_LJ_POLL;
@@ -437,7 +444,8 @@ static int32_t SystemBus_GenRemoteTestRsp(SYSBUS *instPtr, uint8_t *msg)
ASSERT(instPtr != NULL);
ASSERT(msg != NULL);
SYSBUS_UART_FRAME *sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
if (sysbusRsp == NULL) {
if (sysbusRsp == NULL)
{
DBG_ERROR("Failed to allocate memory for LJ REMOTE TEST Response!\n");
return ENOMEM;
}
@@ -447,7 +455,7 @@ static int32_t SystemBus_GenRemoteTestRsp(SYSBUS *instPtr, uint8_t *msg)
TimeCtrl_GetCurrentTime(linkInstPtr->config.tmcInstPtr, &tmWord);
time = (uint64_t)tmWord.int_part * TIME_FRAC_MAX + tmWord.frac_part;
if(msg[WD_CMD] == CMD_FLJ_RM_TEST)
if (msg[WD_CMD] == CMD_FLJ_RM_TEST)
{
sysbusRsp->len = FLJ_RM_TEST_RESP_LEN;
memset(sysbusRsp->data, 0x00, FLJ_RM_TEST_RESP_LEN);
@@ -485,7 +493,8 @@ static int32_t SystemBus_GenRemoteTestRsp(SYSBUS *instPtr, uint8_t *msg)
return EUNEXP;
}
if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false){
if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false)
{
free(sysbusRsp);
DBG_WARNING("SystemBus::TX Queue overflowed!\n");
return EQUEUE;
@@ -494,64 +503,6 @@ static int32_t SystemBus_GenRemoteTestRsp(SYSBUS *instPtr, uint8_t *msg)
return SUCCESS;
}
/*****************************************************************************/
/**
* @brief Initialize System Bus instance.
*
* @param InstPtr A double pointer to System Bus instance.
* @param config A pointer to System Bus configurations.
*
* @return None.
*
******************************************************************************/
int32_t SystemBus_Init(SYSBUS **instPtr, SYSBUS_CONFIG *config)
{
ASSERT(instPtr != NULL);
ASSERT(config != NULL);
SYSBUS_UART_CONFIG uartConfig;
int32_t Status;
(*instPtr) = malloc(sizeof(SYSBUS));
if ((*instPtr) == NULL)
{
return FAILURE;
}
(*instPtr)->rxQueue = NULL;
(*instPtr)->txQueue = NULL;
(*instPtr)->uartInst = NULL;
memcpy(&((*instPtr)->config), config, sizeof(SYSBUS_CONFIG));
memset(&((*instPtr)->sysbusLog), 0x00, sizeof(SYSBUSLOG));
memset(&((*instPtr)->linkLog), 0x00, sizeof(LINKLOG));
memset(&((*instPtr)->phyLog), 0x00, sizeof(PHYLOG));
memset(&((*instPtr)->hwState), 0x00, sizeof(HWSTATE));
uartConfig.baseAddr = config->baseAddr;
Status = SysbusUart_Init(&((*instPtr)->uartInst), &uartConfig);
if (Status != SUCCESS)
{
Status = ENOMEM;
goto sysbus_init_error;
}
if (CircQueueCreate(&((*instPtr)->txQueue), (*instPtr)->config.txQueueMax) == false)
{
Status = ENOMEM;
goto sysbus_init_error;
}
if (CircQueueCreate(&((*instPtr)->rxQueue), (*instPtr)->config.rxQueueMax) == false)
{
Status = ENOMEM;
goto sysbus_init_error;
}
(*instPtr)->isRxDone = false; // nothing received.
(*instPtr)->isTxDone = true; // nothing to be sent.
return SUCCESS;
sysbus_init_error:
free((*instPtr)->uartInst);
free((*instPtr)->txQueue);
free((*instPtr)->rxQueue);
free(*instPtr);
return Status;
}
/*****************************************************************************/
/**
* @brief A handler function. This handler evaluate the message from system
@@ -698,6 +649,66 @@ int32_t SystemBus_MakeResp(SYSBUS *instPtr)
return Status;
}
/** @} */
/*****************************************************************************/
/**
* @brief Initialize System Bus instance.
*
* @param InstPtr A double pointer to System Bus instance.
* @param config A pointer to System Bus configurations.
*
* @return None.
*
******************************************************************************/
int32_t SystemBus_Init(SYSBUS **instPtr, SYSBUS_CONFIG *config)
{
ASSERT(instPtr != NULL);
ASSERT(config != NULL);
SYSBUS_UART_CONFIG uartConfig;
int32_t Status;
(*instPtr) = malloc(sizeof(SYSBUS));
if ((*instPtr) == NULL)
{
return FAILURE;
}
(*instPtr)->rxQueue = NULL;
(*instPtr)->txQueue = NULL;
(*instPtr)->uartInst = NULL;
memcpy(&((*instPtr)->config), config, sizeof(SYSBUS_CONFIG));
memset(&((*instPtr)->sysbusLog), 0x00, sizeof(SYSBUSLOG));
memset(&((*instPtr)->linkLog), 0x00, sizeof(LINKLOG));
memset(&((*instPtr)->phyLog), 0x00, sizeof(PHYLOG));
memset(&((*instPtr)->hwState), 0x00, sizeof(HWSTATE));
uartConfig.baseAddr = config->baseAddr;
Status = SysbusUart_Init(&((*instPtr)->uartInst), &uartConfig);
if (Status != SUCCESS)
{
Status = ENOMEM;
goto sysbus_init_error;
}
if (CircQueueCreate(&((*instPtr)->txQueue), (*instPtr)->config.txQueueMax) == false)
{
Status = ENOMEM;
goto sysbus_init_error;
}
if (CircQueueCreate(&((*instPtr)->rxQueue), (*instPtr)->config.rxQueueMax) == false)
{
Status = ENOMEM;
goto sysbus_init_error;
}
(*instPtr)->isRxDone = false; // nothing received.
(*instPtr)->isTxDone = true; // nothing to be sent.
return SUCCESS;
sysbus_init_error:
free((*instPtr)->uartInst);
free((*instPtr)->txQueue);
free((*instPtr)->rxQueue);
free(*instPtr);
return Status;
}
/*****************************************************************************/
/**
* @brief This function handles the systembus tx irq events.
@@ -751,3 +762,5 @@ recv_error:
free(sysbusReq);
return Status;
}
/** @} SystemBus*/
df_datalink_sp/src/systembus/systembus.h
+40 -23
View File
@@ -1,18 +1,20 @@
/*****************************************************************************/
/**
* Description: System bus protocol head file.
* @file systembus.h
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief System bus protocol header file.
* @version 0.1
* @date 2023-05-06
*
* Date: 2023-05-06 10:12
* Last Edit Time: [2023-05-06 10:13]
*
* Revisions: Rev 0.0
* History:
* [2023-05-06]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @defgroup SystemBus
* @{
*/
#ifndef __SYSTEMBUS_H_
#define __SYSTEMBUS_H_
@@ -25,34 +27,47 @@
/************************** Constant Definitions *****************************/
/************************** Data Type Definitions ****************************/
// Definition of SystemBus instance.
/**
* @struct SYSBUS_CONFIG
* @brief SystemBus Config struct holds SystemBus initialization parameters
*/
typedef struct
{
uintptr_t baseAddr;
uint32_t txQueueMax;
uint32_t rxQueueMax;
uintptr_t baseAddr; ///< base address in memory
uint32_t txQueueMax; ///< maximum tx queue length
uint32_t rxQueueMax; ///< maximum rx queue length
} SYSBUS_CONFIG;
/**
* @struct SYSBUS
* @brief SystemBus Instance struct
*/
typedef struct
{
SYSBUS_CONFIG config;
SYSBUSLOG sysbusLog; // systembus log
LINKLOG linkLog; // Link layer log
PHYLOG phyLog; // Physical layer log
HWSTATE hwState; // Hardware status
SYSBUS_UART *uartInst;
CIRC_QUEUE *txQueue;
CIRC_QUEUE *rxQueue;
bool isRxDone;
bool isTxDone;
SYSBUS_CONFIG config; ///< SystemBus initialization parameters
SYSBUSLOG sysbusLog; ///< SystemBus log
LINKLOG linkLog; ///< Link layer log
PHYLOG phyLog; ///< Physical layer log
HWSTATE hwState; ///< Hardware status
SYSBUS_UART *uartInst; ///< physical uart controller instance
CIRC_QUEUE *txQueue; ///< tx queue
CIRC_QUEUE *rxQueue; ///< rx queue
bool isTxDone; ///< tx done indicator
bool isRxDone; ///< rx done indicator
} SYSBUS;
/************************** Function Prototypes ******************************/
int32_t SystemBus_Init(SYSBUS **instPtr, SYSBUS_CONFIG *config);
/**
* @defgroup SystemBus_Protocol_Routine
* @{
*/
int32_t SystemBus_HandleCmd(SYSBUS *instPtr);
int32_t SystemBus_MakeResp(SYSBUS *instPtr);
/** @} */
int32_t SystemBus_TxIntrHandler(SYSBUS *instPtr);
int32_t SystemBus_RxIntrHandler(SYSBUS *instPtr);
@@ -64,3 +79,5 @@ bool SystemBus_IsTxBusy(SYSBUS *instPtr);
bool SystemBus_IsRxBusy(SYSBUS *instPtr);
#endif //__SYSTEMBUS_H_
/** @} SystemBus*/
df_datalink_sp/src/systembus/systembus_uart.c
+27 -10
View File
@@ -1,18 +1,27 @@
/*****************************************************************************/
/**
* Description: System bus uart driver implementation file.
* @file systembus_uart.h
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief System bus uart driver implementation file.
* @version 0.1
* @date 2023-05-06
*
* Date: 2023-05-06 10:59
* LastEditTime: 2023-05-06 21:56
* Revisions: Rev 0.0
* History:
* [2023-05-06]: Initial version.
*
* Copyright(c) 2022 Beijing Institute of Technology.
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/***************************** Include Files *******************************/
/**
* @addtogroup SystemBus
* @{
*/
/**
* @addtogroup SystemBus_UART
* @{
*/
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
@@ -20,6 +29,10 @@
#include "systembus_uart.h"
#include "common.h"
/**
* @name SystemBus_UART_Driver_Constants
* @{
*/
// Control and status register
#define MODULE_VERSION 0
#define UART_STATUS 4
@@ -47,7 +60,7 @@
#define FRAME_CHECK_LEN 1 // CheckSum
#define FRAME_INFO_LEN 3 // CheckSum, Dummy and DataLen
#define FRAME_OVERHEAD_LEN 7 // CheckSum, Dummy and DataLen
/*************************** Function Definitions ****************************/
/** @} SystemBus_UART_Driver_Constants*/
/*****************************************************************************/
/**
@@ -246,3 +259,7 @@ bool SysbusUart_IsTxBusy(SYSBUS_UART *instPtr)
return false;
}
}
/** @} SystemBus_UART*/
/** @} SystemBus*/
df_datalink_sp/src/systembus/systembus_uart.h
+32 -8
View File
@@ -1,17 +1,25 @@
/*****************************************************************************/
/**
* Description: System bus uart driver implementation file.
* @file systembus_uart.h
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief System bus uart driver header file.
* @version 0.1
* @date 2023-05-06
*
* Date: 2023-05-06 10:59
* LastEditTime: 2023-05-06 21:48
* Revisions: Rev 0.0
* History:
* [2023-05-06]: Initial version.
*
* Copyright(c) 2022 Beijing Institute of Technology.
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup SystemBus
* @{
*/
/**
* @defgroup SystemBus_UART
* @{
*/
#ifndef SYSTEMBUS_UART_H
#define SYSTEMBUS_UART_H
@@ -61,16 +69,28 @@
IO_In32((baseAddr) + (offset))
/************************** Data Type Definitions ****************************/
/**
* @struct SYSBUS_UART_CONFIG
* @brief SystemBus UART driver initialization parameters
*/
typedef struct
{
uintptr_t baseAddr;
} SYSBUS_UART_CONFIG;
/**
* @struct SYSBUS_UART
* @brief SystemBus UART driver instance
*/
typedef struct
{
SYSBUS_UART_CONFIG config;
} SYSBUS_UART;
/**
* @struct SYSBUS_UART_FRAME
* @brief SystemBus UART frame definition
*/
typedef struct
{
uint16_t len;
@@ -96,3 +116,7 @@ bool SysbusUart_IsRxBusy(SYSBUS_UART *instPtr);
bool SysbusUart_IsTxBusy(SYSBUS_UART *instPtr);
#endif // SYSTEMBUS_UART_H
/** @} SystemBus_UART*/
/** @} SystemBus*/
df_datalink_sp/src/time_ctrl/time_ctrl.c
+23 -13
View File
@@ -1,20 +1,21 @@
/*****************************************************************************/
/**
* Description: Time sync implementation file.
*
* Author: Author's name
* Date: 2023-12-20 16:32
* LastEditors: FanHao
* LastEditTime: 2023-12-22 20:43
* Revisions: Rev 0.0
* History:
* [2023-12-20]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @file time_ctrl.c
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief Time sync controller driver implementation file.
* @version 0.0
* @date 2023-12-20
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup TimeController_Driver
* @{
*/
/***************************** Include Files *********************************/
#include <string.h>
#include "time_ctrl.h"
@@ -23,6 +24,10 @@
#include "util.h"
/************************** Constant Definitions *****************************/
/**
* @name TimeController_REG_Constants
* @{
*/
#define VERSION_REG 0x00000004
#define TIME_INT_REG 0x00000008
#define TIME_FRAC_REG 0x0000000C
@@ -36,6 +41,9 @@
#define CNTSTEP_OPT 0x0000002c
#define TM_RESET_CODE 0x5253542E
/** @} TimeController_REG_Constants*/
/***************** Macros (Inline Functions) Definitions *********************/
#define TMC_Read(instPtr, addr) IO_In32(instPtr->config.baseAddr + addr)
#define TMC_Write(instPtr, addr, value) IO_Out32(instPtr->config.baseAddr + addr, value)
@@ -295,4 +303,6 @@ void TimeCtrl_CalculateTimeGap(const TIME_WORD *a, const TIME_WORD *b, TIME_WORD
timeDiff -= (uint64_t)a->frac_part;
gap->frac_part = (TIME_FRAC)(timeDiff % TIME_FRAC_MAX);
gap->frac_part = (TIME_INT)(timeDiff / TIME_FRAC_MAX);
}
}
/** @} TimeController_Driver*/
df_datalink_sp/src/time_ctrl/time_ctrl.h
+35 -18
View File
@@ -1,19 +1,20 @@
/*****************************************************************************/
/**
* Description: A simplified version of timesync for datalink 814 (Dijian)
*
* Date: 2023-12-20-04 16:32
* LastEditors: Fan Hao
* LastEditTime: 2023-12-20 16:32
* Revisions: Rev 0.0
* History:
* [2023-12-20]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Lab of Communication and Networking
* @file time_ctrl.h
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief Time sync controller driver header file.
* @version 0.0
* @date 2023-12-20
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @defgroup TimeController_Driver
* @{
*/
#ifndef TIME_CTRL_H_
#define TIME_CTRL_H_
@@ -23,30 +24,44 @@
#define TIME_FRAC_MAX 500000 // how many 10ns in a 5ms
/***************** Macros (Inline Functions) Definitions *********************/
/**************************** Type Definitions *******************************/
/**
* @enum TIMECTRL_ADJ_TYPE
* @brief defines the time adjustment methods
*/
typedef enum
{
TM_ADJ_NONE = 0,
TM_ADJ_ADD = 1,
TM_ADJ_SET = 2
TM_ADJ_NONE = 0, ///< none
TM_ADJ_ADD = 1, ///< adjust time by add
TM_ADJ_SET = 2 ///< adjust time by set
} TIMECTRL_ADJ_TYPE;
typedef uint32_t TIME_FRAC;
typedef uint32_t TIME_INT;
/**
* @struct TIME_WORD
* @brief Time controller time word
*/
typedef struct
{
/* 5ms each LSB */
TIME_INT int_part;
/* 10ns each LSB */
TIME_FRAC frac_part;
TIME_INT int_part; ///< 5ms each LSB
TIME_FRAC frac_part; ///< 10ns each LSB
} TIME_WORD;
/**
* @struct TMC_CONFIG
* @brief TmcConfig holds the initialization parameters of time controller
*/
typedef struct
{
uintptr_t baseAddr;
uint32_t reset; // time for reset (unit: us)
} TMC_CONFIG;
/**
* @struct TMC_INST
* @brief An instance struct of time controller
*/
typedef struct
{
TMC_CONFIG config;
@@ -72,3 +87,5 @@ void TimeCtrl_TimeAdjust(TMC_INST *instPtr, const TIME_WORD *tmWord, TIMECTRL_AD
void TimeCtrl_CalculateTimeGap(const TIME_WORD *a, const TIME_WORD *b, TIME_WORD *gap);
#endif /* TIME_SYNC_H_ */
/** @} */
df_datalink_sp/src/util/circ_queue.c
+80 -87
View File
@@ -1,34 +1,25 @@
/*****************************************************************************/
/**
* Description: A simple circular FIFO bounded queue
* @file circ_queue.c
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief A simple circular FIFO bounded queue
* @version 0.1
* @date 2023-02-23
* @note Forked from https://github.com/chrismerck/rpa_queue.git
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
* Author: Fan Hao
* Date: 2023-02-23 10:29
* LastEditors: Fan Hao
* LastEditTime: 2023-02-23 13:18
* Revisions: Rev 0.0
* History:
* [2023-02-23]: Initial Version.
*
* Copyright(c) 2023 Beijing Institute of Technology.
* Lab of Communication and Networking
* NOTE: Forked from https://github.com/chrismerck/rpa_queue.git
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* The ASF licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
******************************************************************************/
/**
* @addtogroup Utility
* @{
*/
/**
* @addtogroup CircularQueue
* @{
*/
#include "circ_queue.h"
#include "common.h"
#include <stdio.h>
@@ -37,105 +28,107 @@
inline bool isCircQueueFull(CIRC_QUEUE *queue)
{
ASSERT(queue != NULL);
return ((queue)->nelts == (queue)->bounds);
ASSERT(queue != NULL);
return ((queue)->nelts == (queue)->bounds);
}
inline bool isCircQueueEmpty(CIRC_QUEUE *queue)
{
ASSERT(queue != NULL);
return ((queue)->nelts == 0);
ASSERT(queue != NULL);
return ((queue)->nelts == 0);
}
void CircQueueFree(CIRC_QUEUE *queue)
{
ASSERT(queue != NULL);
if (queue->data)
free(queue->data);
free(queue);
ASSERT(queue != NULL);
if (queue->data)
free(queue->data);
free(queue);
}
/**
* Initialize the CIRC_QUEUE.
* @brief Initialize the CIRC_QUEUE.
*/
bool CircQueueCreate(CIRC_QUEUE **q, uint32_t queueCapacity)
{
ASSERT(q != NULL);
CIRC_QUEUE *queue;
queue = malloc(sizeof(CIRC_QUEUE));
if (!queue)
{
return false;
}
*q = queue;
memset(queue, 0, sizeof(CIRC_QUEUE));
ASSERT(q != NULL);
CIRC_QUEUE *queue;
queue = malloc(sizeof(CIRC_QUEUE));
if (!queue)
{
return false;
}
*q = queue;
memset(queue, 0, sizeof(CIRC_QUEUE));
/* Set all the data in the queue to NULL */
queue->data = malloc(queueCapacity * sizeof(void *));
if (queue->data == NULL)
{
goto error;
}
queue->bounds = queueCapacity;
queue->nelts = 0;
queue->in = 0;
queue->out = 0;
return true;
/* Set all the data in the queue to NULL */
queue->data = malloc(queueCapacity * sizeof(void *));
if (queue->data == NULL)
{
goto error;
}
queue->bounds = queueCapacity;
queue->nelts = 0;
queue->in = 0;
queue->out = 0;
return true;
error:
free(queue);
return false;
free(queue);
return false;
}
/**
* Push new data onto the queue.
* @brief Push new data onto the queue.
*/
bool CircQueuePush(CIRC_QUEUE *queue, void *data)
{
ASSERT(queue != NULL);
ASSERT(queue != NULL);
if (isCircQueueFull(queue))
{
return false;
}
if (isCircQueueFull(queue))
{
return false;
}
queue->data[queue->in] = data;
queue->in++;
if (queue->in >= queue->bounds)
{
queue->in -= queue->bounds;
}
queue->nelts++;
queue->data[queue->in] = data;
queue->in++;
if (queue->in >= queue->bounds)
{
queue->in -= queue->bounds;
}
queue->nelts++;
return true;
return true;
}
/**
* Return current number of element in queue.
* @brief Return current number of element in queue.
*/
inline uint32_t CircQueueSize(CIRC_QUEUE *queue)
{
return queue->nelts;
return queue->nelts;
}
/**
* Retrieves the next item from the queue.
* @brief Retrieves the next item from the queue.
*/
bool CircQueuePop(CIRC_QUEUE *queue, void **data)
{
ASSERT(queue != NULL);
ASSERT(queue != NULL);
if (isCircQueueEmpty(queue))
{
return false;
}
if (isCircQueueEmpty(queue))
{
return false;
}
*data = queue->data[queue->out];
queue->nelts--;
*data = queue->data[queue->out];
queue->nelts--;
queue->out++;
if (queue->out >= queue->bounds)
{
queue->out -= queue->bounds;
}
return true;
queue->out++;
if (queue->out >= queue->bounds)
{
queue->out -= queue->bounds;
}
return true;
}
/** @} CircularQueue*/
/** @} Utility*/
df_datalink_sp/src/util/clist.c
+225 -214
View File
@@ -1,3 +1,25 @@
/*****************************************************************************/
/**
* @file clist.c
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief A basic list data structure
* @version 0.1
* @date 2023-02-23
* @note Forked from https://github.com/clibs/list
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/**
* @addtogroup Utility
* @{
*/
/**
* @addtogroup cList
* @{
*/
#ifndef LIST_MALLOC
#define LIST_MALLOC malloc
#endif
@@ -6,337 +28,326 @@
#define LIST_FREE free
#endif
//
// list.c
//
// Copyright (c) 2010 TJ Holowaychuk <[email protected]>
//
#include <stdint.h>
#include "clist.h"
/*
* Allocates a new clist_node_t. NULL on failure.
/**
* @brief a new clist_node_t. NULL on failure.
*/
clist_node_t *
clist_node_new(void *val)
{
clist_node_t *self;
if (!(self = LIST_MALLOC(sizeof(clist_node_t))))
return NULL;
self->prev = NULL;
self->next = NULL;
self->val = val;
return self;
clist_node_t *self;
if (!(self = LIST_MALLOC(sizeof(clist_node_t))))
return NULL;
self->prev = NULL;
self->next = NULL;
self->val = val;
return self;
}
/*
* Allocate a new clist_t. NULL on failure.
/**
* @brief Allocate a new clist_t. NULL on failure.
*/
clist_t *
clist_new(void)
{
clist_t *self;
if (!(self = LIST_MALLOC(sizeof(clist_t))))
return NULL;
self->head = NULL;
self->tail = NULL;
self->free = NULL;
self->compare = NULL;
self->len = 0;
return self;
clist_t *self;
if (!(self = LIST_MALLOC(sizeof(clist_t))))
return NULL;
self->head = NULL;
self->tail = NULL;
self->free = NULL;
self->compare = NULL;
self->len = 0;
return self;
}
/*
* Remove all the node in list.
* @self: Pointer to the list
/**
* @brief Remove all the node in list.
* @param self: Pointer to the list
*/
void clist_clear(clist_t *self)
{
clist_node_t *next;
clist_node_t *curr = self->head;
clist_node_t *next;
clist_node_t *curr = self->head;
while (curr != NULL)
{
next = curr->next;
if (self->free)
self->free(curr->val);
LIST_FREE(curr);
curr = next;
}
self->len = 0;
self->head = NULL;
while (curr != NULL)
{
next = curr->next;
if (self->free)
self->free(curr->val);
LIST_FREE(curr);
curr = next;
}
self->len = 0;
self->head = NULL;
}
/*
* Free the list.
* @self: Pointer to the list
/**
* @brief Free the list.
* @param self: Pointer to the list
*/
void clist_destroy(clist_t *self)
{
clist_clear(self);
LIST_FREE(self);
clist_clear(self);
LIST_FREE(self);
}
/*
* Append the given node to the list
* and return the node, NULL on failure.
* @self: Pointer to the list for popping node
* @node: the node to push
/**
* @brief Append the given node to the list and return the node, NULL on failure.
* @param self: Pointer to the list for popping node
* @param node: the node to push
*/
clist_node_t *
clist_rpush(clist_t *self, clist_node_t *node)
{
if (!node)
return NULL;
if (!node)
return NULL;
if (self->len)
{
node->prev = self->tail;
node->next = NULL;
self->tail->next = node;
self->tail = node;
}
else
{
self->head = self->tail = node;
node->prev = node->next = NULL;
}
if (self->len)
{
node->prev = self->tail;
node->next = NULL;
self->tail->next = node;
self->tail = node;
}
else
{
self->head = self->tail = node;
node->prev = node->next = NULL;
}
++self->len;
return node;
++self->len;
return node;
}
/*
* Return / detach the last node in the list, or NULL.
* @self: Pointer to the list for popping node
/**
* @brief Return / detach the last node in the list, or NULL.
* @param self: Pointer to the list for popping node
*/
clist_node_t *
clist_rpop(clist_t *self)
{
if (!self->len)
return NULL;
if (!self->len)
return NULL;
clist_node_t *node = self->tail;
clist_node_t *node = self->tail;
if (--self->len)
{
(self->tail = node->prev)->next = NULL;
}
else
{
self->tail = self->head = NULL;
}
if (--self->len)
{
(self->tail = node->prev)->next = NULL;
}
else
{
self->tail = self->head = NULL;
}
node->next = node->prev = NULL;
return node;
node->next = node->prev = NULL;
return node;
}
/*
* Return / detach the first node in the list, or NULL.
* @self: Pointer to the list for popping node
/**
* @brief Return / detach the first node in the list, or NULL.
* @param self: Pointer to the list for popping node
*/
clist_node_t *
clist_lpop(clist_t *self)
{
if (!self->len)
return NULL;
if (!self->len)
return NULL;
clist_node_t *node = self->head;
clist_node_t *node = self->head;
if (--self->len)
{
(self->head = node->next)->prev = NULL;
}
else
{
self->head = self->tail = NULL;
}
if (--self->len)
{
(self->head = node->next)->prev = NULL;
}
else
{
self->head = self->tail = NULL;
}
node->next = node->prev = NULL;
return node;
node->next = node->prev = NULL;
return node;
}
/*
* Prepend the given node to the list
* and return the node, NULL on failure.
* @self: Pointer to the list for pushing node
* @node: the node to push
/**
* @brief Prepend the given node to the list and return the node, NULL on failure.
* @param self: Pointer to the list for pushing node
* @param node: the node to push
*/
clist_node_t *
clist_lpush(clist_t *self, clist_node_t *node)
{
if (!node)
return NULL;
if (!node)
return NULL;
if (self->len)
{
node->next = self->head;
node->prev = NULL;
self->head->prev = node;
self->head = node;
}
else
{
self->head = self->tail = node;
node->prev = node->next = NULL;
}
if (self->len)
{
node->next = self->head;
node->prev = NULL;
self->head->prev = node;
self->head = node;
}
else
{
self->head = self->tail = node;
node->prev = node->next = NULL;
}
++self->len;
return node;
++self->len;
return node;
}
/*
* Return the node associated to val or NULL.
* @self: Pointer to the list for finding given value
* @val: Value to find
/**
* @brief Return the node associated to val or NULL.
* @param self: Pointer to the list for finding given value
* @param val: Value to find
*/
clist_node_t *
clist_find(clist_t *self, void *val)
{
clist_iterator_t *it = clist_iterator_new(self, LIST_HEAD);
clist_node_t *node;
clist_iterator_t *it = clist_iterator_new(self, LIST_HEAD);
clist_node_t *node;
while ((node = clist_iterator_next(it)))
{
if (self->compare)
{
if (self->compare(val, node->val) == 0)
{
clist_iterator_destroy(it);
return node;
}
}
else
{
if (val == node->val)
{
clist_iterator_destroy(it);
return node;
}
}
}
while ((node = clist_iterator_next(it)))
{
if (self->compare)
{
if (self->compare(val, node->val) == 0)
{
clist_iterator_destroy(it);
return node;
}
}
else
{
if (val == node->val)
{
clist_iterator_destroy(it);
return node;
}
}
}
clist_iterator_destroy(it);
return NULL;
clist_iterator_destroy(it);
return NULL;
}
/*
* Return the node at the given index or NULL.
* @self: Pointer to the list for finding given index
* @index: the index of node in the list
/**
* @brief Return the node at the given index or NULL.
* @param self: Pointer to the list for finding given index
* @param index: the index of node in the list
*/
clist_node_t *
clist_at(clist_t *self, int index)
{
clist_direction_t direction = LIST_HEAD;
clist_direction_t direction = LIST_HEAD;
if (index < 0)
{
direction = LIST_TAIL;
index = ~index;
}
if (index < 0)
{
direction = LIST_TAIL;
index = ~index;
}
if ((unsigned)index < self->len)
{
clist_iterator_t *it = clist_iterator_new(self, direction);
clist_node_t *node = clist_iterator_next(it);
while (index--)
node = clist_iterator_next(it);
clist_iterator_destroy(it);
return node;
}
if ((unsigned)index < self->len)
{
clist_iterator_t *it = clist_iterator_new(self, direction);
clist_node_t *node = clist_iterator_next(it);
while (index--)
node = clist_iterator_next(it);
clist_iterator_destroy(it);
return node;
}
return NULL;
return NULL;
}
/*
* Remove the given node from the list, freeing it and it's value.
* @self: Pointer to the list to delete a node
* @node: Pointer the node to be deleted
/**
* @brief Remove the given node from the list, freeing it and it's value.
* @param self: Pointer to the list to delete a node
* @param node: Pointer the node to be deleted
*/
void clist_remove(clist_t *self, clist_node_t *node)
{
node->prev
? (node->prev->next = node->next)
: (self->head = node->next);
node->prev
? (node->prev->next = node->next)
: (self->head = node->next);
node->next
? (node->next->prev = node->prev)
: (self->tail = node->prev);
node->next
? (node->next->prev = node->prev)
: (self->tail = node->prev);
if (self->free)
self->free(node->val);
if (self->free)
self->free(node->val);
LIST_FREE(node);
--self->len;
LIST_FREE(node);
--self->len;
}
/*
* Allocate a new clist_iterator_t. NULL on failure.
/**
* @brief Allocate a new clist_iterator_t. NULL on failure.\n
* Accepts a direction, which may be LIST_HEAD or LIST_TAIL.
*/
clist_iterator_t *
clist_iterator_new(clist_t *list, clist_direction_t direction)
{
clist_node_t *node = direction == LIST_HEAD
? list->head
: list->tail;
return clist_iterator_new_from_node(node, direction);
clist_node_t *node = direction == LIST_HEAD
? list->head
: list->tail;
return clist_iterator_new_from_node(node, direction);
}
/*
* Allocate a new clist_iterator_t with the given start
/**
* @brief Allocate a new clist_iterator_t with the given start
* node. NULL on failure.
*/
clist_iterator_t *
clist_iterator_new_from_node(clist_node_t *node, clist_direction_t direction)
{
clist_iterator_t *self;
if (!(self = LIST_MALLOC(sizeof(clist_iterator_t))))
return NULL;
self->next = node;
self->direction = direction;
return self;
clist_iterator_t *self;
if (!(self = LIST_MALLOC(sizeof(clist_iterator_t))))
return NULL;
self->next = node;
self->direction = direction;
return self;
}
/*
* Return the next clist_node_t or NULL when no more
/**
* @brief Return the next clist_node_t or NULL when no more
* nodes remain in the list.
*/
clist_node_t *
clist_iterator_next(clist_iterator_t *self)
{
clist_node_t *curr = self->next;
if (curr)
{
self->next = self->direction == LIST_HEAD
? curr->next
: curr->prev;
}
return curr;
clist_node_t *curr = self->next;
if (curr)
{
self->next = self->direction == LIST_HEAD
? curr->next
: curr->prev;
}
return curr;
}
/*
* Free the list iterator.
/**
* @brief Free the list iterator.
*/
void clist_iterator_destroy(clist_iterator_t *self)
{
LIST_FREE(self);
self = NULL;
LIST_FREE(self);
self = NULL;
}
/** @} cList*/
/** @} Utility*/
df_datalink_sp/src/util/common.c
+7 -2
View File
@@ -10,11 +10,14 @@
* [2022-07-16]: New branch for Dijian.
* [2021-11-16]: Initial version.
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Copyright(c) 2024 Beijing Institute of Technology.
* Lab of Communication and Networking
*
******************************************************************************/
/**
* @addtogroup COMMON_MACRO
* @{
*/
/***************************** Include Files *********************************/
#include "common.h"
#include "error.h"
@@ -44,3 +47,5 @@ void AppAssert(const char *file, int line)
while (1)
;
}
/** @} */
df_datalink_sp/src/util/crc.c
+299 -294
View File
@@ -11,11 +11,14 @@
* [2022-07-17]: Add CRC16_0x8005 CRC8_0x31.
* [2022-01-06]: Initial verion (Basic CRC-16).
*
* Copyright(c) 2021 Beijing Institute of Technology.
* Copyright(c) 2024 Beijing Institute of Technology.
* Lab of Communication and Networking
*
******************************************************************************/
/**
* @addtogroup Utility
* @{
*/
#include "util.h"
#include "error.h"
@@ -24,223 +27,223 @@
// Reversed
static const uint16_t crc16_1021_lsb_lut[256] =
{
0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7,
0x1081, 0x0108, 0x3393, 0x221A, 0x56A5, 0x472C, 0x75B7, 0x643E,
0x9CC9, 0x8D40, 0xBFDB, 0xAE52, 0xDAED, 0xCB64, 0xF9FF, 0xE876,
0x2102, 0x308B, 0x0210, 0x1399, 0x6726, 0x76AF, 0x4434, 0x55BD,
0xAD4A, 0xBCC3, 0x8E58, 0x9FD1, 0xEB6E, 0xFAE7, 0xC87C, 0xD9F5,
0x3183, 0x200A, 0x1291, 0x0318, 0x77A7, 0x662E, 0x54B5, 0x453C,
0xBDCB, 0xAC42, 0x9ED9, 0x8F50, 0xFBEF, 0xEA66, 0xD8FD, 0xC974,
0x4204, 0x538D, 0x6116, 0x709F, 0x0420, 0x15A9, 0x2732, 0x36BB,
0xCE4C, 0xDFC5, 0xED5E, 0xFCD7, 0x8868, 0x99E1, 0xAB7A, 0xBAF3,
0x5285, 0x430C, 0x7197, 0x601E, 0x14A1, 0x0528, 0x37B3, 0x263A,
0xDECD, 0xCF44, 0xFDDF, 0xEC56, 0x98E9, 0x8960, 0xBBFB, 0xAA72,
0x6306, 0x728F, 0x4014, 0x519D, 0x2522, 0x34AB, 0x0630, 0x17B9,
0xEF4E, 0xFEC7, 0xCC5C, 0xDDD5, 0xA96A, 0xB8E3, 0x8A78, 0x9BF1,
0x7387, 0x620E, 0x5095, 0x411C, 0x35A3, 0x242A, 0x16B1, 0x0738,
0xFFCF, 0xEE46, 0xDCDD, 0xCD54, 0xB9EB, 0xA862, 0x9AF9, 0x8B70,
0x8408, 0x9581, 0xA71A, 0xB693, 0xC22C, 0xD3A5, 0xE13E, 0xF0B7,
0x0840, 0x19C9, 0x2B52, 0x3ADB, 0x4E64, 0x5FED, 0x6D76, 0x7CFF,
0x9489, 0x8500, 0xB79B, 0xA612, 0xD2AD, 0xC324, 0xF1BF, 0xE036,
0x18C1, 0x0948, 0x3BD3, 0x2A5A, 0x5EE5, 0x4F6C, 0x7DF7, 0x6C7E,
0xA50A, 0xB483, 0x8618, 0x9791, 0xE32E, 0xF2A7, 0xC03C, 0xD1B5,
0x2942, 0x38CB, 0x0A50, 0x1BD9, 0x6F66, 0x7EEF, 0x4C74, 0x5DFD,
0xB58B, 0xA402, 0x9699, 0x8710, 0xF3AF, 0xE226, 0xD0BD, 0xC134,
0x39C3, 0x284A, 0x1AD1, 0x0B58, 0x7FE7, 0x6E6E, 0x5CF5, 0x4D7C,
0xC60C, 0xD785, 0xE51E, 0xF497, 0x8028, 0x91A1, 0xA33A, 0xB2B3,
0x4A44, 0x5BCD, 0x6956, 0x78DF, 0x0C60, 0x1DE9, 0x2F72, 0x3EFB,
0xD68D, 0xC704, 0xF59F, 0xE416, 0x90A9, 0x8120, 0xB3BB, 0xA232,
0x5AC5, 0x4B4C, 0x79D7, 0x685E, 0x1CE1, 0x0D68, 0x3FF3, 0x2E7A,
0xE70E, 0xF687, 0xC41C, 0xD595, 0xA12A, 0xB0A3, 0x8238, 0x93B1,
0x6B46, 0x7ACF, 0x4854, 0x59DD, 0x2D62, 0x3CEB, 0x0E70, 0x1FF9,
0xF78F, 0xE606, 0xD49D, 0xC514, 0xB1AB, 0xA022, 0x92B9, 0x8330,
0x7BC7, 0x6A4E, 0x58D5, 0x495C, 0x3DE3, 0x2C6A, 0x1EF1, 0x0F78
0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7,
0x1081, 0x0108, 0x3393, 0x221A, 0x56A5, 0x472C, 0x75B7, 0x643E,
0x9CC9, 0x8D40, 0xBFDB, 0xAE52, 0xDAED, 0xCB64, 0xF9FF, 0xE876,
0x2102, 0x308B, 0x0210, 0x1399, 0x6726, 0x76AF, 0x4434, 0x55BD,
0xAD4A, 0xBCC3, 0x8E58, 0x9FD1, 0xEB6E, 0xFAE7, 0xC87C, 0xD9F5,
0x3183, 0x200A, 0x1291, 0x0318, 0x77A7, 0x662E, 0x54B5, 0x453C,
0xBDCB, 0xAC42, 0x9ED9, 0x8F50, 0xFBEF, 0xEA66, 0xD8FD, 0xC974,
0x4204, 0x538D, 0x6116, 0x709F, 0x0420, 0x15A9, 0x2732, 0x36BB,
0xCE4C, 0xDFC5, 0xED5E, 0xFCD7, 0x8868, 0x99E1, 0xAB7A, 0xBAF3,
0x5285, 0x430C, 0x7197, 0x601E, 0x14A1, 0x0528, 0x37B3, 0x263A,
0xDECD, 0xCF44, 0xFDDF, 0xEC56, 0x98E9, 0x8960, 0xBBFB, 0xAA72,
0x6306, 0x728F, 0x4014, 0x519D, 0x2522, 0x34AB, 0x0630, 0x17B9,
0xEF4E, 0xFEC7, 0xCC5C, 0xDDD5, 0xA96A, 0xB8E3, 0x8A78, 0x9BF1,
0x7387, 0x620E, 0x5095, 0x411C, 0x35A3, 0x242A, 0x16B1, 0x0738,
0xFFCF, 0xEE46, 0xDCDD, 0xCD54, 0xB9EB, 0xA862, 0x9AF9, 0x8B70,
0x8408, 0x9581, 0xA71A, 0xB693, 0xC22C, 0xD3A5, 0xE13E, 0xF0B7,
0x0840, 0x19C9, 0x2B52, 0x3ADB, 0x4E64, 0x5FED, 0x6D76, 0x7CFF,
0x9489, 0x8500, 0xB79B, 0xA612, 0xD2AD, 0xC324, 0xF1BF, 0xE036,
0x18C1, 0x0948, 0x3BD3, 0x2A5A, 0x5EE5, 0x4F6C, 0x7DF7, 0x6C7E,
0xA50A, 0xB483, 0x8618, 0x9791, 0xE32E, 0xF2A7, 0xC03C, 0xD1B5,
0x2942, 0x38CB, 0x0A50, 0x1BD9, 0x6F66, 0x7EEF, 0x4C74, 0x5DFD,
0xB58B, 0xA402, 0x9699, 0x8710, 0xF3AF, 0xE226, 0xD0BD, 0xC134,
0x39C3, 0x284A, 0x1AD1, 0x0B58, 0x7FE7, 0x6E6E, 0x5CF5, 0x4D7C,
0xC60C, 0xD785, 0xE51E, 0xF497, 0x8028, 0x91A1, 0xA33A, 0xB2B3,
0x4A44, 0x5BCD, 0x6956, 0x78DF, 0x0C60, 0x1DE9, 0x2F72, 0x3EFB,
0xD68D, 0xC704, 0xF59F, 0xE416, 0x90A9, 0x8120, 0xB3BB, 0xA232,
0x5AC5, 0x4B4C, 0x79D7, 0x685E, 0x1CE1, 0x0D68, 0x3FF3, 0x2E7A,
0xE70E, 0xF687, 0xC41C, 0xD595, 0xA12A, 0xB0A3, 0x8238, 0x93B1,
0x6B46, 0x7ACF, 0x4854, 0x59DD, 0x2D62, 0x3CEB, 0x0E70, 0x1FF9,
0xF78F, 0xE606, 0xD49D, 0xC514, 0xB1AB, 0xA022, 0x92B9, 0x8330,
0x7BC7, 0x6A4E, 0x58D5, 0x495C, 0x3DE3, 0x2C6A, 0x1EF1, 0x0F78
};
// CRC-16-MAXIM G(X)=X16+X15+X2+1
const uint16_t crc16_8005_lsb_lut[256] =
{
0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
};
// CRC-8-MAXIM G(X)=X8+X5+X4+1
const uint8_t crc8_31_lsb_lut[256] =
{
0x00, 0x5E, 0xBC, 0xE2, 0x61, 0x3F, 0xDD, 0x83,
0xC2, 0x9C, 0x7E, 0x20, 0xA3, 0xFD, 0x1F, 0x41,
0x9D, 0xC3, 0x21, 0x7F, 0xFC, 0xA2, 0x40, 0x1E,
0x5F, 0x01, 0xE3, 0xBD, 0x3E, 0x60, 0x82, 0xDC,
0x23, 0x7D, 0x9F, 0xC1, 0x42, 0x1C, 0xFE, 0xA0,
0xE1, 0xBF, 0x5D, 0x03, 0x80, 0xDE, 0x3C, 0x62,
0xBE, 0xE0, 0x02, 0x5C, 0xDF, 0x81, 0x63, 0x3D,
0x7C, 0x22, 0xC0, 0x9E, 0x1D, 0x43, 0xA1, 0xFF,
0x46, 0x18, 0xFA, 0xA4, 0x27, 0x79, 0x9B, 0xC5,
0x84, 0xDA, 0x38, 0x66, 0xE5, 0xBB, 0x59, 0x07,
0xDB, 0x85, 0x67, 0x39, 0xBA, 0xE4, 0x06, 0x58,
0x19, 0x47, 0xA5, 0xFB, 0x78, 0x26, 0xC4, 0x9A,
0x65, 0x3B, 0xD9, 0x87, 0x04, 0x5A, 0xB8, 0xE6,
0xA7, 0xF9, 0x1B, 0x45, 0xC6, 0x98, 0x7A, 0x24,
0xF8, 0xA6, 0x44, 0x1A, 0x99, 0xC7, 0x25, 0x7B,
0x3A, 0x64, 0x86, 0xD8, 0x5B, 0x05, 0xE7, 0xB9,
0x8C, 0xD2, 0x30, 0x6E, 0xED, 0xB3, 0x51, 0x0F,
0x4E, 0x10, 0xF2, 0xAC, 0x2F, 0x71, 0x93, 0xCD,
0x11, 0x4F, 0xAD, 0xF3, 0x70, 0x2E, 0xCC, 0x92,
0xD3, 0x8D, 0x6F, 0x31, 0xB2, 0xEC, 0x0E, 0x50,
0xAF, 0xF1, 0x13, 0x4D, 0xCE, 0x90, 0x72, 0x2C,
0x6D, 0x33, 0xD1, 0x8F, 0x0C, 0x52, 0xB0, 0xEE,
0x32, 0x6C, 0x8E, 0xD0, 0x53, 0x0D, 0xEF, 0xB1,
0xF0, 0xAE, 0x4C, 0x12, 0x91, 0xCF, 0x2D, 0x73,
0xCA, 0x94, 0x76, 0x28, 0xAB, 0xF5, 0x17, 0x49,
0x08, 0x56, 0xB4, 0xEA, 0x69, 0x37, 0xD5, 0x8B,
0x57, 0x09, 0xEB, 0xB5, 0x36, 0x68, 0x8A, 0xD4,
0x95, 0xCB, 0x29, 0x77, 0xF4, 0xAA, 0x48, 0x16,
0xE9, 0xB7, 0x55, 0x0B, 0x88, 0xD6, 0x34, 0x6A,
0x2B, 0x75, 0x97, 0xC9, 0x4A, 0x14, 0xF6, 0xA8,
0x74, 0x2A, 0xC8, 0x96, 0x15, 0x4B, 0xA9, 0xF7,
0xB6, 0xE8, 0x0A, 0x54, 0xD7, 0x89, 0x6B, 0x35
0x00, 0x5E, 0xBC, 0xE2, 0x61, 0x3F, 0xDD, 0x83,
0xC2, 0x9C, 0x7E, 0x20, 0xA3, 0xFD, 0x1F, 0x41,
0x9D, 0xC3, 0x21, 0x7F, 0xFC, 0xA2, 0x40, 0x1E,
0x5F, 0x01, 0xE3, 0xBD, 0x3E, 0x60, 0x82, 0xDC,
0x23, 0x7D, 0x9F, 0xC1, 0x42, 0x1C, 0xFE, 0xA0,
0xE1, 0xBF, 0x5D, 0x03, 0x80, 0xDE, 0x3C, 0x62,
0xBE, 0xE0, 0x02, 0x5C, 0xDF, 0x81, 0x63, 0x3D,
0x7C, 0x22, 0xC0, 0x9E, 0x1D, 0x43, 0xA1, 0xFF,
0x46, 0x18, 0xFA, 0xA4, 0x27, 0x79, 0x9B, 0xC5,
0x84, 0xDA, 0x38, 0x66, 0xE5, 0xBB, 0x59, 0x07,
0xDB, 0x85, 0x67, 0x39, 0xBA, 0xE4, 0x06, 0x58,
0x19, 0x47, 0xA5, 0xFB, 0x78, 0x26, 0xC4, 0x9A,
0x65, 0x3B, 0xD9, 0x87, 0x04, 0x5A, 0xB8, 0xE6,
0xA7, 0xF9, 0x1B, 0x45, 0xC6, 0x98, 0x7A, 0x24,
0xF8, 0xA6, 0x44, 0x1A, 0x99, 0xC7, 0x25, 0x7B,
0x3A, 0x64, 0x86, 0xD8, 0x5B, 0x05, 0xE7, 0xB9,
0x8C, 0xD2, 0x30, 0x6E, 0xED, 0xB3, 0x51, 0x0F,
0x4E, 0x10, 0xF2, 0xAC, 0x2F, 0x71, 0x93, 0xCD,
0x11, 0x4F, 0xAD, 0xF3, 0x70, 0x2E, 0xCC, 0x92,
0xD3, 0x8D, 0x6F, 0x31, 0xB2, 0xEC, 0x0E, 0x50,
0xAF, 0xF1, 0x13, 0x4D, 0xCE, 0x90, 0x72, 0x2C,
0x6D, 0x33, 0xD1, 0x8F, 0x0C, 0x52, 0xB0, 0xEE,
0x32, 0x6C, 0x8E, 0xD0, 0x53, 0x0D, 0xEF, 0xB1,
0xF0, 0xAE, 0x4C, 0x12, 0x91, 0xCF, 0x2D, 0x73,
0xCA, 0x94, 0x76, 0x28, 0xAB, 0xF5, 0x17, 0x49,
0x08, 0x56, 0xB4, 0xEA, 0x69, 0x37, 0xD5, 0x8B,
0x57, 0x09, 0xEB, 0xB5, 0x36, 0x68, 0x8A, 0xD4,
0x95, 0xCB, 0x29, 0x77, 0xF4, 0xAA, 0x48, 0x16,
0xE9, 0xB7, 0x55, 0x0B, 0x88, 0xD6, 0x34, 0x6A,
0x2B, 0x75, 0x97, 0xC9, 0x4A, 0x14, 0xF6, 0xA8,
0x74, 0x2A, 0xC8, 0x96, 0x15, 0x4B, 0xA9, 0xF7,
0xB6, 0xE8, 0x0A, 0x54, 0xD7, 0x89, 0x6B, 0x35
};
#else
// CRC-16-CCITT G(X)=X16+X12+X5+1
static const uint16_t crc16_1021_msb_lut[256] =
{
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
};
// CRC-16-MAXIM G(X)=X16+X15+X2+1
const uint16_t crc16_8005_msb_lut[256] =
{
0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
};
// CRC-8-MAXIM G(X)=X8+X5+X4+1
const uint8_t crc8_31_msb_lut[256] =
{
0x00, 0x31, 0x62, 0x53, 0xC4, 0xF5, 0xA6, 0x97,
0xB9, 0x88, 0xDB, 0xEA, 0x7D, 0x4C, 0x1F, 0x2E,
0x43, 0x72, 0x21, 0x10, 0x87, 0xB6, 0xE5, 0xD4,
0xFA, 0xCB, 0x98, 0xA9, 0x3E, 0x0F, 0x5C, 0x6D,
0x86, 0xB7, 0xE4, 0xD5, 0x42, 0x73, 0x20, 0x11,
0x3F, 0x0E, 0x5D, 0x6C, 0xFB, 0xCA, 0x99, 0xA8,
0xC5, 0xF4, 0xA7, 0x96, 0x01, 0x30, 0x63, 0x52,
0x7C, 0x4D, 0x1E, 0x2F, 0xB8, 0x89, 0xDA, 0xEB,
0x3D, 0x0C, 0x5F, 0x6E, 0xF9, 0xC8, 0x9B, 0xAA,
0x84, 0xB5, 0xE6, 0xD7, 0x40, 0x71, 0x22, 0x13,
0x7E, 0x4F, 0x1C, 0x2D, 0xBA, 0x8B, 0xD8, 0xE9,
0xC7, 0xF6, 0xA5, 0x94, 0x03, 0x32, 0x61, 0x50,
0xBB, 0x8A, 0xD9, 0xE8, 0x7F, 0x4E, 0x1D, 0x2C,
0x02, 0x33, 0x60, 0x51, 0xC6, 0xF7, 0xA4, 0x95,
0xF8, 0xC9, 0x9A, 0xAB, 0x3C, 0x0D, 0x5E, 0x6F,
0x41, 0x70, 0x23, 0x12, 0x85, 0xB4, 0xE7, 0xD6,
0x7A, 0x4B, 0x18, 0x29, 0xBE, 0x8F, 0xDC, 0xED,
0xC3, 0xF2, 0xA1, 0x90, 0x07, 0x36, 0x65, 0x54,
0x39, 0x08, 0x5B, 0x6A, 0xFD, 0xCC, 0x9F, 0xAE,
0x80, 0xB1, 0xE2, 0xD3, 0x44, 0x75, 0x26, 0x17,
0xFC, 0xCD, 0x9E, 0xAF, 0x38, 0x09, 0x5A, 0x6B,
0x45, 0x74, 0x27, 0x16, 0x81, 0xB0, 0xE3, 0xD2,
0xBF, 0x8E, 0xDD, 0xEC, 0x7B, 0x4A, 0x19, 0x28,
0x06, 0x37, 0x64, 0x55, 0xC2, 0xF3, 0xA0, 0x91,
0x47, 0x76, 0x25, 0x14, 0x83, 0xB2, 0xE1, 0xD0,
0xFE, 0xCF, 0x9C, 0xAD, 0x3A, 0x0B, 0x58, 0x69,
0x04, 0x35, 0x66, 0x57, 0xC0, 0xF1, 0xA2, 0x93,
0xBD, 0x8C, 0xDF, 0xEE, 0x79, 0x48, 0x1B, 0x2A,
0xC1, 0xF0, 0xA3, 0x92, 0x05, 0x34, 0x67, 0x56,
0x78, 0x49, 0x1A, 0x2B, 0xBC, 0x8D, 0xDE, 0xEF,
0x82, 0xB3, 0xE0, 0xD1, 0x46, 0x77, 0x24, 0x15,
0x3B, 0x0A, 0x59, 0x68, 0xFF, 0xCE, 0x9D, 0xAC
0x00, 0x31, 0x62, 0x53, 0xC4, 0xF5, 0xA6, 0x97,
0xB9, 0x88, 0xDB, 0xEA, 0x7D, 0x4C, 0x1F, 0x2E,
0x43, 0x72, 0x21, 0x10, 0x87, 0xB6, 0xE5, 0xD4,
0xFA, 0xCB, 0x98, 0xA9, 0x3E, 0x0F, 0x5C, 0x6D,
0x86, 0xB7, 0xE4, 0xD5, 0x42, 0x73, 0x20, 0x11,
0x3F, 0x0E, 0x5D, 0x6C, 0xFB, 0xCA, 0x99, 0xA8,
0xC5, 0xF4, 0xA7, 0x96, 0x01, 0x30, 0x63, 0x52,
0x7C, 0x4D, 0x1E, 0x2F, 0xB8, 0x89, 0xDA, 0xEB,
0x3D, 0x0C, 0x5F, 0x6E, 0xF9, 0xC8, 0x9B, 0xAA,
0x84, 0xB5, 0xE6, 0xD7, 0x40, 0x71, 0x22, 0x13,
0x7E, 0x4F, 0x1C, 0x2D, 0xBA, 0x8B, 0xD8, 0xE9,
0xC7, 0xF6, 0xA5, 0x94, 0x03, 0x32, 0x61, 0x50,
0xBB, 0x8A, 0xD9, 0xE8, 0x7F, 0x4E, 0x1D, 0x2C,
0x02, 0x33, 0x60, 0x51, 0xC6, 0xF7, 0xA4, 0x95,
0xF8, 0xC9, 0x9A, 0xAB, 0x3C, 0x0D, 0x5E, 0x6F,
0x41, 0x70, 0x23, 0x12, 0x85, 0xB4, 0xE7, 0xD6,
0x7A, 0x4B, 0x18, 0x29, 0xBE, 0x8F, 0xDC, 0xED,
0xC3, 0xF2, 0xA1, 0x90, 0x07, 0x36, 0x65, 0x54,
0x39, 0x08, 0x5B, 0x6A, 0xFD, 0xCC, 0x9F, 0xAE,
0x80, 0xB1, 0xE2, 0xD3, 0x44, 0x75, 0x26, 0x17,
0xFC, 0xCD, 0x9E, 0xAF, 0x38, 0x09, 0x5A, 0x6B,
0x45, 0x74, 0x27, 0x16, 0x81, 0xB0, 0xE3, 0xD2,
0xBF, 0x8E, 0xDD, 0xEC, 0x7B, 0x4A, 0x19, 0x28,
0x06, 0x37, 0x64, 0x55, 0xC2, 0xF3, 0xA0, 0x91,
0x47, 0x76, 0x25, 0x14, 0x83, 0xB2, 0xE1, 0xD0,
0xFE, 0xCF, 0x9C, 0xAD, 0x3A, 0x0B, 0x58, 0x69,
0x04, 0x35, 0x66, 0x57, 0xC0, 0xF1, 0xA2, 0x93,
0xBD, 0x8C, 0xDF, 0xEE, 0x79, 0x48, 0x1B, 0x2A,
0xC1, 0xF0, 0xA3, 0x92, 0x05, 0x34, 0x67, 0x56,
0x78, 0x49, 0x1A, 0x2B, 0xBC, 0x8D, 0xDE, 0xEF,
0x82, 0xB3, 0xE0, 0xD1, 0x46, 0x77, 0x24, 0x15,
0x3B, 0x0A, 0x59, 0x68, 0xFF, 0xCE, 0x9D, 0xAC
};
#endif
@@ -252,12 +255,12 @@ uint8_t/uint16_t/uint32_t crc_val = 0x0;
// LSB
for(int i = 0; i < sizeof(dataBuff); i++)
{
crc_val = (crc_val >> BITS_IN_BYTE) ^ crc_lsb_lut[(uint8)(crc_val^dataBuff[i])];
crc_val = (crc_val >> BITS_IN_BYTE) ^ crc_lsb_lut[(uint8)(crc_val^dataBuff[i])];
}
// MSB
for(int i = 0; i < sizeof(dataBuff); i++)
{
crc_val = (crc_val << BITS_IN_BYTE) ^ crc_msb_lut[(uint8)((crc_val>>8)^dataBuff[i])];
crc_val = (crc_val << BITS_IN_BYTE) ^ crc_msb_lut[(uint8)((crc_val>>8)^dataBuff[i])];
}
*/
@@ -276,32 +279,32 @@ for(int i = 0; i < sizeof(dataBuff); i++)
******************************************************************************/
int crc8_gen(uint8_t *buffPtr, uint32_t dataLen, uint16_t poly, uint8_t *crcVal)
{
uint8_t crc = CRC8_INIT;
const uint8_t *crc_lut = NULL;
uint8_t crc = CRC8_INIT;
const uint8_t *crc_lut = NULL;
switch (poly)
{
switch (poly)
{
#ifdef __CRC_LSB
case 0x31:
crc_lut = crc8_31_lsb_lut;
break;
default:
return FAILURE;
case 0x31:
crc_lut = crc8_31_lsb_lut;
break;
default:
return FAILURE;
#else
case 0x31:
crc_lut = crc8_31_msb_lut;
break;
default:
return FAILURE;
case 0x31:
crc_lut = crc8_31_msb_lut;
break;
default:
return FAILURE;
#endif
}
}
for (int i = 0; i < dataLen; i++)
{
crc = crc_lut[(uint8_t)(crc ^ buffPtr[i])];
}
*crcVal = crc;
return SUCCESS;
for (int i = 0; i < dataLen; i++)
{
crc = crc_lut[(uint8_t)(crc ^ buffPtr[i])];
}
*crcVal = crc;
return SUCCESS;
}
/*****************************************************************************/
@@ -319,40 +322,40 @@ int crc8_gen(uint8_t *buffPtr, uint32_t dataLen, uint16_t poly, uint8_t *crcVal)
******************************************************************************/
int crc16_gen(uint8_t *buffPtr, uint32_t dataLen, uint16_t poly, uint16_t *crcVal)
{
uint16_t crc = CRC16_INIT;
const uint16_t *crc_lut = NULL;
switch (poly)
{
uint16_t crc = CRC16_INIT;
const uint16_t *crc_lut = NULL;
switch (poly)
{
#ifdef __CRC_LSB
case 0x8005:
crc_lut = crc16_8005_lsb_lut;
break;
case 0x1021:
crc_lut = crc16_1021_lsb_lut;
break;
default:
return FAILURE;
case 0x8005:
crc_lut = crc16_8005_lsb_lut;
break;
case 0x1021:
crc_lut = crc16_1021_lsb_lut;
break;
default:
return FAILURE;
#else
case 0x8005:
crc_lut = crc16_8005_msb_lut;
break;
case 0x1021:
crc_lut = crc16_1021_msb_lut;
break;
default:
return FAILURE;
case 0x8005:
crc_lut = crc16_8005_msb_lut;
break;
case 0x1021:
crc_lut = crc16_1021_msb_lut;
break;
default:
return FAILURE;
#endif
}
for (int i = 0; i < dataLen; i++)
{
}
for (int i = 0; i < dataLen; i++)
{
#ifdef __CRC_LSB
crc = (crc >> 8) ^ crc_lut[(uint8_t)(crc ^ buffPtr[i])];
crc = (crc >> 8) ^ crc_lut[(uint8_t)(crc ^ buffPtr[i])];
#else
crc = (crc << 8) ^ crc_lut[(uint8_t)((crc >> 8) ^ buffPtr[i])];
crc = (crc << 8) ^ crc_lut[(uint8_t)((crc >> 8) ^ buffPtr[i])];
#endif
}
*crcVal = crc;
return SUCCESS;
}
*crcVal = crc;
return SUCCESS;
}
/*****************************************************************************/
@@ -370,30 +373,30 @@ int crc16_gen(uint8_t *buffPtr, uint32_t dataLen, uint16_t poly, uint16_t *crcVa
******************************************************************************/
bool crc8_check(uint8_t *buffPtr, uint32_t dataLen, uint32_t crcOffset, uint16_t poly)
{
int Status = SUCCESS;
uint8_t crc_comp;
uint8_t crc;
if (dataLen == 0)
{
return false;
}
crc_comp = (uint8_t)(*(buffPtr + crcOffset));
Status = crc8_gen(buffPtr, dataLen, poly, &crc);
if (Status == SUCCESS)
{
if (crc == crc_comp)
{
return true;
}
else
{
return false;
}
}
else
{
return false;
}
int Status = SUCCESS;
uint8_t crc_comp;
uint8_t crc;
if (dataLen == 0)
{
return false;
}
crc_comp = (uint8_t)(*(buffPtr + crcOffset));
Status = crc8_gen(buffPtr, dataLen, poly, &crc);
if (Status == SUCCESS)
{
if (crc == crc_comp)
{
return true;
}
else
{
return false;
}
}
else
{
return false;
}
}
/*****************************************************************************/
@@ -411,29 +414,31 @@ bool crc8_check(uint8_t *buffPtr, uint32_t dataLen, uint32_t crcOffset, uint16_t
******************************************************************************/
bool crc16_check(uint8_t *buffPtr, uint32_t dataLen, uint32_t crcOffset, uint16_t poly)
{
int Status = SUCCESS;
uint16_t crc_comp;
uint16_t crc;
if (dataLen == 0)
{
return false;
}
crc_comp = (uint16_t)(*(buffPtr + crcOffset));
crc_comp |= (uint16_t)((*(buffPtr + crcOffset + 1)) << 8);
Status = crc16_gen(buffPtr, dataLen, poly, &crc);
if (Status == SUCCESS)
{
if (crc == crc_comp)
{
return true;
}
else
{
return false;
}
}
else
{
return false;
}
int Status = SUCCESS;
uint16_t crc_comp;
uint16_t crc;
if (dataLen == 0)
{
return false;
}
crc_comp = (uint16_t)(*(buffPtr + crcOffset));
crc_comp |= (uint16_t)((*(buffPtr + crcOffset + 1)) << 8);
Status = crc16_gen(buffPtr, dataLen, poly, &crc);
if (Status == SUCCESS)
{
if (crc == crc_comp)
{
return true;
}
else
{
return false;
}
}
else
{
return false;
}
}
/** @}*/
df_datalink_sp/src/util/list.c
+1 -1
View File
@@ -1,5 +1,5 @@
/*******************************************************************************
* @file list.c
* @file list.c
* @brief List library implementation
* @author Mihail Chindris (mihail.chindris@analog.com)
********************************************************************************
df_datalink_sp/src/util/util.c
+56 -21
View File
@@ -1,15 +1,30 @@
/******************************************************************************/
/*****************************************************************************/
/**
* @file util.c
* @author FanHao (hao_fan_bit_ee@163.com)
* @brief Utility functions implementation file
* @version 0.0
* @date 2023-05-06
*
* @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
* Lab of Communication and Network
*
******************************************************************************/
/***************************** Include Files **********************************/
/******************************************************************************/
/**
* @addtogroup Utility
* @{
*/
#include <string.h>
#include <stdlib.h>
// #include <arm_acle.h>
#include "util.h"
#include "error.h"
/******************************************************************************/
/************************** Functions Implementation **************************/
/******************************************************************************/
#ifdef __BITSWAP_TABLE
static uint8_t byte_flipLR[256] =
{
@@ -48,17 +63,26 @@ static uint8_t byte_flipLR[256] =
};
#endif
/**
* @brief Write a 32bit word to specific memory address
*/
inline void IO_Out32(uintptr_t addr, uint32_t value)
{
volatile uint32_t *localAddr = (volatile uint32_t *)addr;
*localAddr = value;
}
/**
* @brief Read a 32bit word from specific memory address
*/
inline uint32_t IO_In32(uintptr_t addr)
{
return *(volatile uint32_t *)addr;
}
/**
* @brief Swap a byte word bit-wise
*/
uint8_t byte_bit_swap(uint8_t byte)
{
#ifdef __BITSWAP_TABLE
@@ -68,6 +92,9 @@ uint8_t byte_bit_swap(uint8_t byte)
#endif
}
/**
* @brief Swap 32bit word bit-wise
*/
uint32_t word_bit_swap(uint32_t word)
{
#ifdef __BITSWAP_TABLE
@@ -85,6 +112,9 @@ uint32_t word_bit_swap(uint32_t word)
#endif
}
/**
* @brief Count ones in an 32bit word
*/
uint32_t count_ones(uint32_t word)
{
#ifdef __GNUC__
@@ -101,13 +131,16 @@ uint32_t count_ones(uint32_t word)
#endif
}
/**
* @brief Convert fix ;oint number to float number
*/
double fix2double(int32_t val, uint8_t frac_bits)
{
return (((double)val) / (BIT(frac_bits)));
}
/**
* Find first set bit in word.
* @brief Find first set bit in word.
*/
uint32_t find_first_set_bit(uint32_t word)
{
@@ -136,7 +169,7 @@ uint32_t find_first_set_bit(uint32_t word)
}
/**
* Find last set bit in word.
* @brief Find last set bit in word.
*/
uint32_t find_last_set_bit(uint32_t word)
{
@@ -166,7 +199,7 @@ uint32_t find_last_set_bit(uint32_t word)
}
/**
* Locate the closest element in an array.
* @brief Locate the closest element in an array.
*/
uint32_t find_closest(int32_t val,
const int32_t *array,
@@ -189,7 +222,7 @@ uint32_t find_closest(int32_t val,
}
/**
* Shift the value and apply the specified mask.
* @brief Shift the value and apply the specified mask.
*/
uint32_t field_prep(uint32_t mask, uint32_t val)
{
@@ -197,7 +230,7 @@ uint32_t field_prep(uint32_t mask, uint32_t val)
}
/**
* Get a field specified by a mask from a word.
* @brief Get a field specified by a mask from a word.
*/
uint32_t field_get(uint32_t mask, uint32_t word)
{
@@ -205,7 +238,7 @@ uint32_t field_get(uint32_t mask, uint32_t word)
}
/**
* Log base 2 of the given number.
* @brief Log base 2 of the given number.
*/
int32_t log_base_2(uint32_t x)
{
@@ -213,7 +246,7 @@ int32_t log_base_2(uint32_t x)
}
/**
* Find greatest common divisor of the given two numbers.
* @brief Find greatest common divisor of the given two numbers.
*/
uint32_t greatest_common_divisor(uint32_t a,
uint32_t b)
@@ -232,7 +265,7 @@ uint32_t greatest_common_divisor(uint32_t a,
}
/**
* Calculate best rational approximation for a given fraction.
* @brief Calculate best rational approximation for a given fraction.
*/
void rational_best_approximation(uint32_t given_numerator,
uint32_t given_denominator,
@@ -257,7 +290,7 @@ void rational_best_approximation(uint32_t given_numerator,
}
/**
* Calculate the number of set bits.
* @brief Calculate the number of set bits.
*/
uint32_t hweight8(uint32_t word)
{
@@ -274,7 +307,7 @@ uint32_t hweight8(uint32_t word)
}
/**
* Calculate the quotient and the remainder of an integer division.
* @brief Calculate the quotient and the remainder of an integer division.
*/
uint64_t do_div(uint64_t *n,
uint64_t base)
@@ -288,7 +321,7 @@ uint64_t do_div(uint64_t *n,
}
/**
* Unsigned 64bit divide with 64bit divisor and remainder
* @brief Unsigned 64bit divide with 64bit divisor and remainder
*/
uint64_t div64_u64_rem(uint64_t dividend, uint64_t divisor, uint64_t *remainder)
{
@@ -298,7 +331,7 @@ uint64_t div64_u64_rem(uint64_t dividend, uint64_t divisor, uint64_t *remainder)
}
/**
* Unsigned 64bit divide with 32bit divisor with remainder
* @brief Unsigned 64bit divide with 32bit divisor with remainder
*/
uint64_t div_u64_rem(uint64_t dividend, uint32_t divisor, uint32_t *remainder)
{
@@ -308,7 +341,7 @@ uint64_t div_u64_rem(uint64_t dividend, uint32_t divisor, uint32_t *remainder)
}
/**
* Signed 64bit divide with 32bit divisor with remainder
* @brief Signed 64bit divide with 32bit divisor with remainder
*/
int64_t div_s64_rem(int64_t dividend, int32_t divisor, int32_t *remainder)
{
@@ -317,7 +350,7 @@ int64_t div_s64_rem(int64_t dividend, int32_t divisor, int32_t *remainder)
}
/**
* Unsigned 64bit divide with 32bit divisor
* @brief Unsigned 64bit divide with 32bit divisor
*/
uint64_t div_u64(uint64_t dividend, uint32_t divisor)
{
@@ -327,7 +360,7 @@ uint64_t div_u64(uint64_t dividend, uint32_t divisor)
}
/**
* Signed 64bit divide with 32bit divisor
* @brief Signed 64bit divide with 32bit divisor
*/
int64_t div_s64(int64_t dividend, int32_t divisor)
{
@@ -336,7 +369,7 @@ int64_t div_s64(int64_t dividend, int32_t divisor)
}
/**
* Converts from string to int32_t
* @brief Converts from string to int32_t
* @param *str
* @return int32_t
*/
@@ -352,7 +385,7 @@ int32_t str_to_int32(const char *str)
}
/**
* Converts from string to uint32_t
* @brief Converts from string to uint32_t
* @param *str
* @return uint32_t
*/
@@ -366,3 +399,5 @@ uint32_t srt_to_uint32(const char *str)
else
return value;
}
/** @} */
df_datalink_sp/unit_test/linklayer_emulate_unit_test.c
+14 -14
View File
@@ -25,7 +25,7 @@ L2_INST *linkInstPtr = NULL;
uint32_t tmcReg[32] = {0};
uint32_t phycReg[512] = {0};
L2_CONFIG l2Config =
L2_CONFIG l2Config =
{
.myType = L2_NODE_HEAD,
.isInterHead = false,
@@ -38,7 +38,7 @@ L2_CONFIG l2Config =
.tmcInstPtr = NULL
};
PHY_CONFIG l1Config =
PHY_CONFIG l1Config =
{
.devId = 0,
.txBramId = 0,
@@ -48,7 +48,7 @@ PHY_CONFIG l1Config =
.baseAddr = (uintptr_t)phycReg
};
TMC_CONFIG tmcConfig =
TMC_CONFIG tmcConfig =
{
.baseAddr = (uintptr_t)tmcReg,
.reset = 10
@@ -68,7 +68,7 @@ void linklayer_setup(void)
ASSERT_EQUAL(SUCCESS, Status);
Status = TimeCtrl_Init(&tmcInstPtr, &tmcConfig);
ASSERT_EQUAL(SUCCESS, Status);
Status = Phy_InstInit(&phyInstPtr, &l1Config);
Status = Phy_Init(&phyInstPtr, &l1Config);
ASSERT_EQUAL(SUCCESS, Status);
// Update l2 config
@@ -87,7 +87,7 @@ void linklayer_teardown(void)
SysMonitor_Destroy();
}
void forge_adv_frame(uint8_t *buff, uint8_t srcId, uint8_t destId,
void forge_adv_frame(uint8_t *buff, uint8_t srcId, uint8_t destId,
uint32_t frameNum, uint32_t slotNum, uint32_t netStartTime)
{
uint8_t type = L2_ADV_FRAME;
@@ -188,13 +188,13 @@ TEST(linklayer_master_routine)
if (L2_GetCurrentFrameType(linkInstPtr) == L2_CFM_FRAME && slotNum % 4 == 1)
{
forge_cfm_frame((uint8_t *)phyInstPtr->recvDataAddr, 2, 1,
forge_cfm_frame((uint8_t *)phyInstPtr->recvDataAddr, 2, 1,
L2_GetCurrentFrameNum(linkInstPtr), L2_GetCurrentSlotNum(linkInstPtr) - 4);
PhyWrite(phyInstPtr, TXRX_STATE, 0x01010101);
PhyWrite(phyInstPtr, RECVDATA_STATE, L2_CMF_PACK_LEN);
PhyWrite(phyInstPtr, COASE_FREQEST, COASE_TYPE_40KBPS_20MS);
}
if (L2_GetCurrentFrameType(linkInstPtr) == L2_SVC_FRAME && slotNum % 4 == 1)
{
forge_svc_frame((uint8_t *)phyInstPtr->recvDataAddr, 2, 1,
@@ -283,13 +283,13 @@ TEST(linklayer_slave_netsetup)
PhyWrite(phyInstPtr, FSTIME_H, frameSyncSlot);
PhyWrite(phyInstPtr, FSTIME_L, Phy_GetTimeComp(L1_10KBPS_20MS_FRAME));
}
if (L2_GetCurrentFrameType(linkInstPtr) == L2_CFM_FRAME && slotNum % 4 == 1)
{
frameSyncSlot = L2_GetCurrentFrameNum(linkInstPtr) * L2_SLOTS_PER_FRAME
frameSyncSlot = L2_GetCurrentFrameNum(linkInstPtr) * L2_SLOTS_PER_FRAME
+ L2_GetCurrentSlotNum(linkInstPtr) - 4;
forge_cfm_frame((uint8_t *)phyInstPtr->recvDataAddr, 1, 2,
forge_cfm_frame((uint8_t *)phyInstPtr->recvDataAddr, 1, 2,
frameSyncSlot/L2_SLOTS_PER_FRAME, frameSyncSlot%L2_SLOTS_PER_FRAME);
PhyWrite(phyInstPtr, TXRX_STATE, 0x01010101);
@@ -301,10 +301,10 @@ TEST(linklayer_slave_netsetup)
if (L2_GetCurrentFrameType(linkInstPtr) == L2_SVC_FRAME && slotNum % 4 == 1)
{
frameSyncSlot = L2_GetCurrentFrameNum(linkInstPtr) * L2_SLOTS_PER_FRAME
frameSyncSlot = L2_GetCurrentFrameNum(linkInstPtr) * L2_SLOTS_PER_FRAME
+ L2_GetCurrentSlotNum(linkInstPtr) - 4;
forge_svc_frame((uint8_t *)phyInstPtr->recvDataAddr, 1, 2,
forge_svc_frame((uint8_t *)phyInstPtr->recvDataAddr, 1, 2,
frameSyncSlot/L2_SLOTS_PER_FRAME, frameSyncSlot%L2_SLOTS_PER_FRAME);
PhyWrite(phyInstPtr, TXRX_STATE, 0x01010101);
@@ -327,7 +327,7 @@ TEST(linklayer_slave_netsetup)
// 2ms interrupt
if (tmcReg[TIME_FRAC_REG] == 200000)
{
{
Status = Linklayer_Proc(linkInstPtr);
if ((tmcReg[TIME_INT_REG] + 1) / 200 < linkInstPtr->netStartTime)
{
makecopy
+31 -4
View File
@@ -1,14 +1,41 @@
#! /bin/sh
# GE Software
GE_TXATT=0
GE_RXATT=25
DST_DIR=`pwd`
PROJECT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
cp -rL $PROJECT_DIR/df_datalink_sp/src $DST_DIR/df_datalink_sp
echo "Creating <df_datalink_ge>..."
cp -rL $PROJECT_DIR/df_datalink_ge/src $DST_DIR/df_datalink_ge
sed -i'' -e "s/antConfig->rfTxMgc = 0;/antConfig->rfTxMgc = $GE_TXATT;/g" $DST_DIR/df_datalink_ge/networking/phy_layer/phy_antenna.c
sed -i'' -e "s/antConfig->rcvMgc = 0;/antConfig->rcvMgc = $GE_RXATT;/g" $DST_DIR/df_datalink_ge/networking/phy_layer/phy_antenna.c
cd $DST_DIR/df_datalink_ge/networking/phy_layer
sed -i'' -e "s/antConfig->rfTxMgc = 0;/antConfig->rfTxMgc = $GE_TXATT;/g" ./phy_antenna.c
sed -i'' -e "s/antConfig->rcvMgc = 0;/antConfig->rcvMgc = $GE_RXATT;/g" ./phy_antenna.c
# SP Software
source $PROJECT_DIR/caldata
for key in ${!calMap[*]};do
projName=df_datalink_$key
id=$(echo "$key" | grep -o -E '[0-9]+')
type=$(echo "$key" | grep -o -E '(LJ)|(JG)')
echo "Creating <$projName>..."
cp -rL $PROJECT_DIR/df_datalink_sp/src $DST_DIR/$projName
# substitute ID
if [ $type == "LJ" ]; then
sed -i'' "s/#define PHY_DEVICE_ID 0/#define PHY_DEVICE_ID (0x$id | 0x80)/g" $DST_DIR/$projName/config/app_config.h
elif [ $type == "JG" ]; then
sed -i'' "s/#define PHY_DEVICE_ID 0/#define PHY_DEVICE_ID (0x$id | 0x00)/g" $DST_DIR/$projName/config/app_config.h
else
echo "Unrecognized node Type [$type] ID [$id]"
exit 1
fi
# substitute table
sed -i'' "/^const uint16_t antCalTable\[L1_FRAME_MAX_HOPS\]\[L1_ANT_NUM_CH\] =/{
:table
N
/\};/!b table
s/=.*\};/=\n\/\/Antenna-$key\n${calMap[$key]}/
}" $DST_DIR/$projName/networking/phy_layer/phy_antenna.c
done